Where are the Camshaft sensor and crank sensor located?

This engine has 2 crankshaft sensors and 1 camshaft sensor. The camshaft sensor is at the right side of the engine near the front of the valve cover, the two crankshaft position sensors are located on the front bank of the engine block between cylinders 4 and 6. Check out the images (below). Let us know if you need anything else.

Do I have to take the valve pan covers off?

No, the camshaft sensor is on the outside of the cylinder head.