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You don't need a scanner. All you need is a piece of wire or a paper clip to short 2 terminals in the diagnostic connector on this OBD1 car. If your car is a V6 it is already OBD2 compliant, so you can just bring the car to a place like Autozone and they will read the OBD2 code(s) for you for free. If it is an I4 engine, it is only OBD1 so you will need the piece of wire or paper clip. Go over to the Camry forum on AutomotiveForums.com and download the generation 3 service manual that is stickied at the top of that forum. It will have the procedure for pulling the OBD1 codes.
Mike
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