I'm having trouble with my 2004 A6 Quattro 3.0L. I cannot, for the life of me, get my car to pass a Maryland Emissions test, yet there is nothing mechanically wrong with my car--no bad sounds or malfunctions. I've had fuses replaced and my computer reset, but even still the problem persists. The Check Engine light will remain off until the second time I restart the engine, but no longer. These are codes coming back to me:

1. P0020 A Camshaft Position Actuator Circuit/Open Bank 2
2. P0010 A Camshaft Position Actuator Circuit/ Open Bank 1
3. P2094 B Camshaft Position Actuator Control Circuit Low Bank 2
4. P2090 B Camshaft Position Actuator Control Circuit Low Bank 1

I have, indeed, had a mechanic tell me the voltage for these two circuits is almost 50% less than it should.

Can somebody please offer a solution/insight?