First and easiest thing to do is to remove the valve and ensure that the exhaust passage is clean and free of debris and the valve, with vacuum applied to it, opens and closes smoothly and holds vacuum (no tears in the diaphragm). Also, while you're at it, follow your vacuum lines to ensure they are not cracked, disconnected, or loose. Put it back on and drive it for about 5-10 minutes. Stop the car (be careful doing this!) and pop the hood and feel the EGR pipe coming up from your exhaust manifold at the valve. If it's blazing hot, your EGR system is now working. If it is only warm or slightly hot, a quick check of the codes again will probably show it is still not working. Next thing to do is replace the sensor on the EGR valve. It's held in with 3 screws. They are prone to fail so replacement sensors are cheap and readily available. About $25 bucks from NAPA. Replace the sensor and once again apply vacuum to the valve to ensure the diaphragm is not torn and the o-ring for the sensor has seated. Drive it around again. Check to see if the tube is hot and then run your codes to confirm repair or not. If still not working, the only thing left would be the vacuum control solenoids located on your passenger side strut tower. There are 2 solenoids. New ones are available for about $80, or you could go your local junkyard and snag a few for a much cheaper price.
Hope this helps!