Both are in the pedal assembly. One for how far down and one for how far up.

 

The sensors are in the foot pedal, look for loose wires in the harness connections and give the throttle body a proper cleaning, with the correct TB spray cleaner, remember do not move the butterfly manually, you might strip the plastic gears in it!
I simply remove the air filter assembly, then unbolt the throttle body lift it up and turn it 90 degrees, and give it a spray of this.





And this in the throttle pedal connections

 

This DTC is almost always a wiring/connection issue. Many people can just unplug and replug and fix it forever.