mine did exactly samer last year, once I knew the code and pinpointed the issue to be the camshaft position sensor I was told by Nissan (and people who actually know about the car!) that it was ok to drive around town but best not on motoways. Got it sorted by Nissan in the end and it cost around £45 for the sensor, £100 for using the Consult code reading machine (!) and about 2-3 hours labour. in end they messed up (as per usual) so I got it done for £150 total - you might pay more than that though.
From what I gather the job to replace the sensor is not that big a deal but the fact there is a bank1 and a bank 2 sensor means you will need the consult machine or a code reader to find out which sensor needs replacing.