If put in a new camshaft can that mess up your transmission

The codes translate as.... (I'm assuming the first number given was a 'p' code as well).
p0010 = Camshaft Position Actuator Circuit (Bank 1).
p0700 = Transmission Control System TCS Malfunction.
p0974 = Shift Solenoid "A" Control Circuit High.
p0977 = Shift Solenoid "B" Control Circuit High.

The first code refers to the electronics controlling the Variable Valve Timing system in the engine. It has read a fault on the system that operates the valve settings in the engine.
All three of the other codes refer to issues with the electronics in the Transmission. Unless you have experience rebuilding transmissions, your safest option is to take the vehicle to a Good mechanic who knows transmissions. Messing with transmissions and the electronics for them without the correct knowledge can cause more VERY expensive problems.

NMo -not connected in any way. Check the wiring and vacuum hoses in the area.

A couple of questions: are you talking about a "crankshaft" kit? (I'm not sure what that consists of); and are you also taking about the intake manifold or exhaust manifold? As a general statement, neither manifold has any direct interaction with the crankshaft. However, the intake could have an effect on the camshaft. Could that be what you're installing - a camshaft kit?

If I were you I would just put the new filter on and the new pan gasket and take it to have a transmission fluid flush.That will force all the old fluid out and put all new fluid in and clean the transmission as well. Mopar ATF+3 7176 transmission fluid only. I would caution against opening that housing if you are unfamiliar with transmissions. I am not insulting you knowledge but just trying to help. A transmission flush will be much more effective anyway. Let me know if this helps.

The crankshaft sensor has to do with the engine and not the transmission. It sounds like the transmission has a problem unrelated to the engine rpm or movement measurement (through the crankshaft sensor).

I would have the transmission checked out for solenoids or fluid level being off or have that portion repaired before changing any camshaft sensors.

Camshaft sensor malfunctions would show up as an engine code if it were not reading valid signals.

Good luck on this repair.

I am not familiar with this engine, but, it sounds like the valve timing.
Have you fitted the correct camshafts to the correct place. I had a customer who had messed with his Jag, same kind of fault, turned out he had put the camshafts in the wrong position and head side.
Check the valve timing first, then remove the rocker covers and check those camshafts, this should help to find the problem.

How do I change the 2003 Ford Ranger XLT 3.0 L Flex Fuel -Auto Trans 2wd Camshaft synchronizer and sensor . Do I need any special tools ? Are there after market parts that are precise replacements for the OEM parts ?

If the engine locked up while driving, that could cause the transmission to also lock up and make the car some to a screeching hault. It could cause damage to axles, transmissions, torque converters, etc.

Let a mechanic do it. Messing with your transmission is crazy. If you have never had your transmission fluid changed I wouldnt even do it. Changing it might cause problem, the transmission is used to a thicker fluid seeing it would be older. Putting new thinner fluid in could ruin it