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The idle speed solonoid probably needs cleaning. It is on the throtle body

start by making sure the air filter is clean and before removing the idle air control assy, try cleaning the throttle plate and bore with a little carb cleaner. this may fix it and you wont have to deal with all the baloney of removing the throttle body. it will run bad for a few seconds but it will clear....i promise

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Q: How do you raise the idle speed on a 2001 Toyota Sienna if it is idling so low it frequently stalls?
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