1996 Jeep Cherokee Car stalls or won't start when warm unle

I've got a 96 jeep Cherokee sport. The car will start and run fine until it's warm. The ck engine light is on and telling me intermit an loss of crank or camshaft. I replaced the crankshaft position sensor and still no fix. Code is still there. Im being told to do many things. Now for the problem. When going down the road now that the temps are getting cooler here in ny state the car bucks at upper speeds usually above 55. It also did this in the spring and very liltle in the summer. It also will stall out when sit tin at a light for a while then needs to press the gas to the floor to restart. Also when warm such as taking it to the store it runs fine but when time to restart it needs gas to the floor again. Now much of the time just after stoping at stop sign when starting to go car is hesitanting like sputters to go. Plese help. Thanx