2010 Chevy Malibu

No relearn required.
Here is an excerpt from a technical service bulletin from GM about a crank no start condition on this engine with correct timing.
I haven't seen this issue on one of these yet but according to the bulletin, the camshaft reluctor wheel can sometimes slip on the camshaft.
It looks to be very difficult to verify by visual inspection without a known good engine to compare to.

#PIP4548G: MIL On With DTC P0016 And/Or P0017 Setting On A Properly Timed Engine Or Crank No Start - (Jan 8, 2019)
Subject: MIL On With DTC P0016 And/Or P0017 Setting On A Properly Timed Engine Or Crank No Start
"If the engine cranks and runs with one of the camshaft position solenoids or mass air flow sensor unplugged, then typically that sensor is faulty.

If the engine starts and runs with one of the camshaft position sensors unplugged, then the camshaft position sensor that is unplugged is faulty or the reluctor has spun/shifted for the associated camshaft. Replace the suspect camshaft position sensor or swap the intake and exhaust camshaft position sensors with each other. Note: If the intake and exhaust camshaft position sensors are swapped with each other and the engine starts and runs with both of them plugged in, the camshaft position sensor currently in the intake location is faulty.

Please follow this diagnostic or repair process thoroughly and complete each step. If the condition exhibited is resolved without completing every step, the remaining steps do not need to be performed."