1996 Ford Taurus engine skiping

I've had the car for a year and the check engine light has been on the whole time it used to run fine I had multiple engine codes but it still ran o.k. until a couple weeks ago now the car all of a sudden started running really rough the motor seems to run a lot better under load (like with car full of people) but with only one person in it under accelerating it jerks and bucks and shakes as well .the cam position sensor has been bad the whole time but my question is if the egr or dpfe sensor be bad cause this or maybe a clogged cat maybe or could the cam position sensor have jumped time and now is way to advanced?? All of these issues I mentioned did show up on a scan before but could anyone of these issues have gotten worse to cause this or maybe a new issue has surfaced .
Any input or suggestions would be greatly appreciated. Thank you, Mike