Hello!!!
Several months ago I had the same problem than you with my 89 4Runner 3.0L V6 engine, before a give you the magic solution for your problem check the following list:
1.- The gas consuption is higher than normal?
2.- The Engine make a funny noise when you press the gas pedal, like a Diesel engine?
3.- The engine temperature raise?
4.- The engine is hard to start when its cold?
If you answered "NO" to this questions, what you got is a bad EGR position sensor, this sensor will cost you like $150 Dlls ~.
But Smile my friend!!

with only few bucks you can solve the problem.
Go to the nearest Radio Shack store and buy the next material:
1 10 Kohm 1/2 Watt resistor
10 Inches of tubing(Termo fit)
First you must disconect the negative terminal from the battery, find the EGR position sensor,
Disconect the connector and cut the terminal edge, place one side of the cable into the termofit and weld the resistor to the cable making a bridge instead of a conector.
Weld perfectly each edge and cover it with the termo fit, and It's Done!!!!
This will fault the ECU and simulate the operative range of the EGR Position Sensor.
I done this with mine since that and the Check Engine Light never come on again....
Hoop this work for you too....!!!!