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I own a 98 Lexus ES 300. I struggled with the same issue. The problem was the EGR Valve. It is an emission part. The total part and installation was around $300.00. It was a little expensive, but it cured the problem and have not had any problems since then. Hope this helps. Mark

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Q: 93 Lexus ES 300 idles rough when idling or stopped at light?
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