P0301 Misfire Cylinder #1 (Loose Intake Manifold Fasteners)
P0300 Random Misfire (Loose Intake Manifold Fasteners)
P0136 O2 Sensor
P0171 ( Possibly a Stuck SAIS Pump Solenoid )
P0016 Faulty Camshaft Position Sensor (CPS NOT THE CPAS)
This particular "cluster of codes" can point towards an Intake Manifold Vacuum Leak that is allowing Un-Metered Air into the F/A Stream ...leaning out the Fuel Mixture enough to cause Random Misfires and/or prompt the upstream O2 Sensor to pick up those extra O2 Molecules. Those "Captured Fasteners" require only 87 INCH Pounds of Torque to be snugged back down.
This is because it is NOT excessive pressure between the Plastic Flange Lines and the smooth face of the Intake ports that secures such leaks... but rather having the need for some nice, New Plump "O" Ring Style Gaskets that can lose their ability to seal over time on very high mileage engines. The counterweight actions of having the heavy Throttle Body on one side of the IM and the PCM bolted on the outside of the IM can allow the IM to wobble back and forth from excessive Engine Vibrations (Bad Motor Mounts) over the long hall... and flatten out those 'Round' gaskets over time.
There are two of those IM fasteners that will give you some trouble with gaining access to them. The first is hidden under a small Rubber Hose Elbow that joins the lower, center Plastic IM Flange to the Upper Intake plenum short tube...roughly centered along the length of the IM and is necessary to pipe Blow By Gas Over Pressure into the inducted air stream and burn off any excess Gas/Oil Vapors in each Cylinder. The second problematic fastener is the last one closest to the Firewall, and getting the right combination and length of wobble socket, extensions and small ratchet back there can vex even the best of us in those tight quarters.
The P0171 Code can sometimes be traced back to a failed SAIS Pump Solenoid (Secondary Air Injection System) which is one of the easiest R&R Repairs to perform. The Solenoid is roughly located in the Center of the Passenger Side upper outer Engine Head and simply has the need for unplugging the Harness Connector and loosening two fasteners, and replacing the Solenoid and the Gasket beneath it and plugging back in the Harness Connector. The SAIS Solenoid sometimes fails by "sticking open" and likewise, allows excessive amounts of air to pass into the exhaust stream and confuse the O2 Sensors.
@MAY03LT shows How to Replace the Upstream O2 Sensor:
Also, on occasion, a Failing Fuel Pressure Regulator (Check the condition of the Vacuum Hose, First) can diminish Fuel Delivery enough to starve each Cylinder and cause Lean Conditions that will throw P0300 Random Misfires. This is also fairly easy repair if necessary as most go with these SUVS and this video shows how to R&R The Fuel Pressure Regulator on your aging 2004 Trailblazer:
The P0016 Code is caused by a Faulty Camshaft Position Sensor. This Video covers all of the aspects of this fairly simple R&R.
While it never hurts to Pull the CPAS shown in this Video and "clean the screens" and then perform a Fresh Oil and Oil Filter Change... it is NOT necessary nor indicated right now with your SUV vehicle unless you start getting a P0014 Code: