I'm absolutely in agreement with OK445o and with Cig, as I almost always am.
You should know too that the code suggests a carbon buildup in the EGR valve or the orafice that it feeds eth exhaust gas through (and into the intake). It should be very easy to clean out.
Regarding the operation problem, perhaps the best place to start is with the basics. Any good shop should be able to look at the ignition pulses with a scope, as well as look at other sensor signals and operation, and that might be the best place to start. Of course, the most basic of basics is maintenance. I gotta tell you that on that vehicle, if you're still on the original sparkplugs and you're over 60,000 miles new plugs might be all you need. Those motors do tend to be sensitive to eroding electrodes. Filters are cheap to replace too, and if you're on the original..............well, you can guess the rest.