You don't mention if you have the 4 cylinder or the V6 but your Camry's TCCS computer-controlled engine utilizes its MAF, MAP, IAT, ECT, O2, A/F, etc and other sensors to maintain a stoichiometric AIR-FUEL ration of 14.7:1, and will control the fuel injector pulse width to maintain this stoichiometry. But the (random) cylinder misfire code of P0300 is telling, and that your fault is not specific to just one cylinder, so you might be suffering from misfires in all cylinders. I would try running some FUEL INJECTOR CLEANER through your gas tank and see if you can clean gummed up injectors, especially if the car has sat for long periods of time without operation. Your injector(s) may be just gummed up with old fuel.
Fuel trim values in the negative on the long term fuel trim (LTFT) is a response to too much fuel being introduced (RICH condition), and if you are running at -17.2% it is very possible this is an accurate reading and is considered the "new learned value" (input/output to the ECM LTFT table) in order to compensate for too much fuel. Use the scan tool to monitor "live data" and watch for any trending data on either the STFT or LTFT values. Upstream O2 sensors will oscillate from 0.1 vdc to 0.9 vdc in a constant sinusoidal waveform. Downstream O2 sensors will maintain a much more steady DC voltage value and remain fairly constant in a properly operating engine.
It's likely the most obvious fault would be leaky fuel injector(s). I would not parts-cannon the O2 sensors as they sound like they are outputting accurate data to the ECM. Use your scan tool and look at the STFT and the LTFT live data in conjunction with each other on the bank you are concerned with (I assume you have the 4 cylinder engine). A MIL error code is not set until around 20% or more for FT's, so your check engine light may not yet be illuminated for this fault, but the P0300 is sensing that something is amiss with your engine.
FYI: Here is some general Fuel Trim information that applies to all computer controlled engines:
(If the vehicle runs out of fuel, the air−fuel ratio is LEAN and DTC P0170 is detected. The MIL then comes on. Fuel trim applies separately to bank 1 and bank 2, so the ECM lights up the MIL if a problem occurs with either bank.)
You can tell which bank is malfunctioning by looking at the short−term fuel trim and long−term fuel trim, thus allowing you to focus your inspection. If the total of the short−term fuel trim value and long−term fuel trim value for each bank is within 25%, the system is functioning normally.
”Fuel trim” refers to the feedback compensation value compared against the basic injection time. Fuel trim includes short−term fuel trim and long−term fuel trim.
Short−term fuel trim (STFT) is the short−term fuel compensation used to maintain the air−fuel ratio at its ideal stoichiometric value. The signal from the heated oxygen sensor indicates whether the air−fuel ratio is RICH or LEAN compared to the ideal stoichiometric value, triggening a reduction in fuel volume if the air−fuel ratio is rich, and an increase in fuel volume if it is lean.
Long−term fuel trim (LTFT) is overall fuel compensation carried out long−term to compensate for continual deviation of the short−term fuel trim from the central value due to indivual engine differences, wear over time and changes in the usage environment.
If both the short−term fuel trim and long−term fuel trim are LEAN or RICH beyond a certain value, it is detected as a malfunction and the MIL lights up.