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Yeah, it could be the IAC valve like has been said. There's a DIY thread that shows how to remove the valve and clean it. It's not terribly hard to do. Do a search and you should find it.
Also could be the plugs/wires like RU2CHKN said. How long has it been since they've been replaced? My Camry idles with an intermittent misfire when it needs them replaced.
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1992 Camry LE, V6 (3VZ-FE), ABS brakes, 330k miles, dark emerald pearl, owned since new.
1996 Avalon XLS, ABS brakes, moonroof, white, acquired w/ 139k miles, now at 261k.
2001 Yamaha FZ1, Ivan's jet kit, resprung all around, Ohlins in the rear, Race Tech cartridge emulators in the forks, 45k miles.
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