A lot of the time, it's possible to have similar symptoms of bad cam phaser as bad solenoids, so bear that in mind when troubleshooting this on Your 2010 Ford F-150. Some symptoms of a bad cam phaser are going to be a loud and rough idle, accompanied by a knocking noise. Sometimes this is actually due to low oil pressure because of the cam bearing wearing in the cylinder heads. Cost of replacement at the dealership is going to typically be around $1500 to $2500. If You haven't noticed a decline in performance, and can live with the noise, this is something You can try putting off for awhile, especially given how long in the tooth Your truck's getting.
If you own a 2019 ford f150 you may come across some phaser problems often times the phaser sprocket can fail and take out a valve stem on #7 and also damage the cam taper.
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