Always fires right up when engines cold or hasn't been ran in 30min-1hr (occasionally more), but if I drive it enough for it to heat up once I cut it off usually it wont start back up. It will crank and crank and crank and act like it's going to start, but never quite will fire up.

I had a check engine light that's been coming off and on the last couple months Oreilys ran the code and said it was the "Crank Shaft Position Sensor" (which could be the problem I honestly have no idea).

battery seems good still especially with how it cranks,and its not just water in the tank or anything because the amount of time it's been going on. My ideas where maybe Fuel filter clogged or something (Figured I'd start by replacing that due to it should be basically the cheapest attempt at fixing it)

Any ideas?

 

Anytime a car will crank and not start you need to first figure what is missing. Fuel or spark.
The way I do it: Fuel pressure check would be the first check, Second would a spark tester, third you need to check to see if you have a signal to the injectors. All of these test need tools. I doubt your fuel filter is becoming clogged and then unclogged. Anything that restrict fuel flow is going to make for a hard to start cold condition.

In your case with a known Cam position issue I would use a scan tool and check to see if the computer knows the motor is turning. You could also use a Voltmeter to read the Cam position signal cold then check when the car is a no start.