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Timing could be a factor, however I am more inclined to lean toward an engine coolant temp sensor. This is my first thought....I do not know how your fuel economy has been lately, nor do I know the condition of the truck. This is a rough one for the DIY to diagnose. Do not take it to the toyota dealer you spoke to. Your problem could be a fuel filter. I have seen them cause some of the most obscure problems. When was the last tune up done? Spark plugs can cause this as well...
You need to look at the live data on a scan tool when the problem takes place...
If you have access to scan tool, look at your Long term fuel trim, engine coolant temp voltage, map voltage, and short term fuel trim.
Timing spec is 3-7 degrees before top dead center.
Fuel pressure specs - 38-44 PSI Engine off - This is one to check when your problem occurs. A loss of residual fuel pressure will cause a hard start condition.
Fuel press at idle - 31.37 PSI
Hope this helps!
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