it's early 04. no plugs or stc.
in order for the ficm to sync, pcm needs to see 500psi or greater. and signal from the cam sensor. without ficm sync, there will be no smoke out the tailpipe.
you know what? just for the hell of it, disconnect the icp and try firing it up. like i said though, i've never seen a bad icp/pigtail cause a no start. not to say it couldn't happen. your icp voltage does seem to be jumping all over while cranking. however, if it were a shorting icp, as i'm leaning to with unplugging it, you'd be throwing an icp circuit code.
can you view icp in a pressure value as apposed to voltage? and ipr in duty cycle?
you're very limited right now with the device you have to monitor with.
something capable of viewing more PIDs would be in order. it sounds to me like the ficm is not syncing for whatever reason. you keep throwing a cam sensor code as well. typically thrown from cranking without starting, but could also be the wiring. that would cause no ficm sync as well. when you replaced the sensor, did you look at the wiring carefully? somewhat common for the cam sensor wiring to chafe or become damaged. it's down low, so there's a lot of oil in the area. basically, you need to see if the ficm is syncing and what your icp pressure and ipr duty cycle are at