Mystery, intermittent "no crank" problem. Toyota Avalon 2003

Hi all! My 2003 Toyota Avalon occasionally doesn't crank. No clicking no nothing. This happen about once or twice a month. No cranking whatsoever. However, usually, after a couple of minutes it cranks right up strong like there's never been a problem. The dash lights up. The battery is new and tested strong. The cables are all tight, the starter has also been tested to be good. It just seems to fix itself after a short amount of time.

This has been going on for more than 5 years. Now, yesterday I had my annual car inspected in order to renew my car registration. The computer reported 3 things, (1) "Crankshaft Position Sensor A Circuit Malfunction" (2) "Camshaft Position Sensor Circuit Malfunction" (3) "Camshaft Position Sensor "A" Circuit Bank 2”.

The intermittent, non cranking issue actually occurred at the service station just moments before it was driven into the inspection bay. So, I'm wondering if there's a scenario where those failing position sensors might might cause the computer to not allow the starter to crank at all? What do you think? Many thanks! -Rob