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3k rpm for 70mph is way too high, something is wrong. I see 3k rpm on both 4 cylinder or 6 cylinder engines when driving at or slightly above 80mph (cruising on flat road, not climbing uphill or such).
pmesfun makes a good point, the over drive gear may not kicking in?
do a simple test, drive around to make the engine fully warmed up, then while cruising at or above 40mph, click the O/D button on shifter and note if it makes any difference. disabled O/D should light up "O/D off" on instrument panel, but most importantly you will feel car jumping to lower gear and increasing RPMs a bit.
draining & refilling the transmission (and differential, it's separate on 4 cylinder model) is ALWAYS a good idea. you could power flush if you want, but that's more challenging and if you let the shop do this they may charge you an arm and leg (dealer does around $200).
one more question, is the a Checking Engine Light on on instrument panel? if so, get the computer scanned at nearest Autozone or Advance Auto. write down the codes and post back.
EDIT: just noticed you are from California, they no longer do free code checking in stores over there for some reason...
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'02 Solara SLE V6 1MZ-FE/A541E Coupe .: Denso/NGK : Akebono SP : Philips 9011 HIR (low+high) : Toshiba HIR2 9012 (fogs) : Magnefine :. @ 131k
'00 Solara SE 5S-FE/A140E Coupe .: NGK : Hawk HPS : Philips XP : RCEng : Magnefine :. @ 82k
4SALE: connectors for Camry Headlight Wiring Harness and ECU
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