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Check/clean your Idle air control valve, and maybe try cleaning out your Throttle body.
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This is my car too, there's no IAC - but you're right cleaning the TBI might help.
How to: Cleaning Throttle Body, Pictorial
If this doesnt do the trick i can think of a couple other things that may be the problem, You dont mention the CEL being on so i'll go from there with a few wild guesses:
1. The problem only happens with engine hot. So i'd be asking myself (and a toyota manual) what sensors are temperature controlled? check / replace coolant temperature sensor(s), clean MAF sensor, and so on.
2. Your car does not have a seperate fuel filter, it is built into the fuel pump. So maybe this fuel pump filter is clogged? (i think youd change or at least acceess the fuel pump to get to it)
3. valve clearance is too tight (i had your same symptoms on another car and this is what it turned out to be - but unlikely on the camry)
4. Throttle position sensor (mentioned in the post above)
5. One or more fuel injectors clogged or not functioning properl
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