EPC light on, car slows to complete stop mid-drive randomly
 

I have a 2007 Audi A4 Quattro 2.0 liter 4cyl Turbo / Automatic (No Modifications). In the last few weeks while I'm driving, I will notice the RPM needle bouncing a bit, usually resulting in me losing 3-5mph for a second or 2 and then the speed gets back up to normal cruising speeds.

My main concern is the EPC light coming on at random times and then my vehicle all of a sudden slows down to a complete stop, mid drive, and I have to put it in park and turn it off for a few seconds then turn it back on and it drives fine from there. This happened to me while I was on the highway the other day going 60mph and it was not a good experience to say the least, fortunately I was able to pull over on the median before the car completely stopped in the middle of the highway.

Ran a scan and a few codes have popped up.
P0343 Camshaft position sensor
P0611 Intake camshaft
P0011 camshaft position - timing over
P0455 EVAP emission system