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before you do this I would get some wooden qtips - the long ones auto detailers use. take off the air filtrer assembly and spray carb cleaner into the air\fuel intake and use the qtip to wipe out the inside of the intake. I had the same problem with my highlander a year ago and this fixed the problem.
I would check for any vaccum leaks,
You can take a spray bottle of water and spray around the intake manifold with the car running at idle.
The idle will change and get worst if the intake is leaking.
The intake gaskets could be the failure. I know autozone can get into the computer and clear the codes for free.