I had the same problem with my old 91 4x4. I replaced the idle position sensor like the shop I had it at suggested. It didn't need it.  I finally got frustrated and played with it myself. I adjusted the idle adjustment screw on top of the throttle body and changed the position of the sensor untill I found a happy medium and it was fine after that. took some time but it ran for a few years without any more trouble.
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1999 Tacoma EXT cab. Mods: Faze air fuel,oil press,vac/boost,&volt gauges. Stinger volt & amp temp gauges. Kicker 10" L7,Clairion DRX9375R, Clarion DPH 9100 Processor & 6 disk, D.E.I. VIper 1100.5 amplifier, Stinger wiring and cables,UNGO allarm, 2 Kicker 6" resolution bundles, A.R.E rims, BFG All Terrains, Ingen short ram,
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