Posting here because I have a nearly identical problem on a 2000 VR6 GTI. i.e. "G40 camshaft position sensor/g28 speed sensor incorrect allocation"
the car runs all day but the start up is not as immediate as would be normally (hot or cold) and at low rpm accelerating, the engine just has a burble to it and a steady vibration you can feel (I do have a poly dogbone mount but it didnt' feel this way 2 weeks ago and I've had the poly mount for 9 months). I can still run the engine up in speed and the vibe seems to diminish above 4000 rpm or so and it is also not present while decelerating off the gas.
I've replace my pre cat 02 sensor (had a code for that, now it's gone) resistance checked all of my 8,000 mile old plug wires, new plugs are in, pulled the cam sensor and checked it for metal fuzz accumulation (only the slightest film of gunk on it) cleaned that and reinstalled it. No change.
I'm going to hunt down the G28 on my car and see what's up with that but I really am curious to hear how this turns out on the OP's car.