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ECT sensor is used for fuel calculations. It's a common problem along with gummed up IAC for some stall problems.
In addition, when the engine is cold the ECU is in open loop. So oxygen sensors are not used immediately and can't be the reason. But when warm they clearly work ok, that's when the sensors are most likely to be in closed loop operation and giving ECU useful info.
Also when was the last time the coolant was changed? Did you use Toyota Red with 50% distilled water? If coolant gets old and > 0.4v it can interfere with ECT sensor as well.
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