After I had a few things repaired on my car, I drove it around to cycle through the codes. My boyfriend later drove it and said that it was shaking and the RPMS were going through the roof. I immediately thought of the EGR valve and took it back to the shop we had the previous repairs done at. It was in fact the EGR valve that was making the RPMs go crazy. If it is the same for you, see if they will clean it first because this is an extremely expensive part for this vehicle. Hopefully it is just dirty like mine was.