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the first thing i would try is a change of the transaxle oil. Id switch to a synthetic type, the lightest weight toyota recommends for your trans. If that doesnt help matters, perhaps something is broken.
On every manual trans i ever saw, it has a filler plug and sometimes a drain plug (toyota is one car that has a drain plug). To check your trans oil level, park t he car on level ground and remove the filler plug with whatever wrench fits it. (Many of them have a square female hole that a 3/8" socket will fit into without the socket). The oil should slowly trickly out a drop at a time, if not shove your pinky in there and the level should be about level with BOTTOM of filler hole. Top up if necesary.
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