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That is correct - you don't have to pull the throttle body off the car to clean it. Just removing the plastic/rubber piping off the throttle body would be enough to expose the throttle plate inside.
All you need is an old toothbrush or rag, throttle body cleaner (make sure it says sensor safe), and a larger rag or towel to catch/protect other surfaces from the solvent. Make sure you get behind the throttle plate as well - gets really nasty back there (just rotate the cam on the TB that actuates the plate).
When you are done - a good idea to reset the ECM to adjust its maps for a clean throttle body. You don't have to do this, as the system will adjust on its own - just seems to adjust faster if you reset it.
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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