This is a fairly common problem more than likely what you're going to find is the revolution sensor on the top of the transmission just down from the bell housing has gone open. Remove the connector and ohm test the resistance through the sensor. You should have between 560 and 680 ohms of resistance. Check the pins in the connector and make sure there's no corrosion.
SOURCE: Where is the socket to plug the diagnostic code
Should be under the dash on the right side of the steering column. Some times there is a cover and/or they are tucked up to be hidden but if I recall it should be fairly easy to see on that Toyota.
SOURCE: 1996 toyota avalon 6cylinder engine code p1705
That is the code for a problem with the throtle position sensor . this may not be the problem with the car, but something is effecting the way the TPS is performing. (you could get a high low idle, rough idle)
SOURCE: how can I tell if a 96 Toyota Avalon XL has ABS
Easiest way is turn ignition switch on to run position do not start. Warning lights will light up on dash panel. There will be a orange light that comes on, if it has abs. Part of the self test diagnostics of abs system relates to this light coming on. If orange light goes on you have at least rear wheel abs. If you see wires coming out of the center of the back of each front wheel you have 4 wheel abs.
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