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Whenever I've had my car looked at by a dealer (I have an extended warranty) the diagnostic charge has been $0.
I'd try a different dealer.
When I had my old car I happened to be going past a dealer and asked them to read a CEL code that popped on the day before (more convenient than AutoZone)...they wanted $95 for what anywhere else would do for free. I've never been back there since.
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Toyotas in the family/next of kin:
1982 Corolla Wagon, 1989 Corolla DX, 1991 Previa LE, 1993 Previa LE,
1993 Pickup, 1994 Corolla DX, 1995 Avalon XL, 1996 Camry XLE, 1998 Avalon XL,
1998 Sienna CE, 1999 Camry XL, 2000 Camry XLE, 2002 Tundra, 2003 Tundra,
2003 ES 300, 2004 Camry XLE, 2005 Tacoma
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