1996camry
The problem lies in the "Idle Contol Valve"
Try looking at
98 Camry Randomly Dies After Cold Start
I was shown where the valve was.
It sounds like a hose was removed and sprayed with carb cleaner
It sounds like this is a common problem (From Dealer).
The valve get's varnished and is prevented from operating. (I'm not a mechanic, Im speaking in laymans terms)
The hose thats removed is "timed" in some way so be carefull (when disassembling & assembling)
I know that I'm not telling you exactly how to do it. you may need to look up the procedure. But this was the problem for my car and the Idle controll valve is where you need to look.
I hope this works for you.