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I think your idle is low. I think it should be 800 rpm, but I am not sure. My book is outside in the garage right now so I can't check it.
If the idle is correct, check your oil level. Check the oil level anyway.
If the idle and oil level are good, you might try using a heavier grade of oil.
I am going to put my money on the idle speed being low.
The "A" series engines tend to drop oil pressure as they age (like most other engines) but it doesn't seem to be a critical issue, as long as it is good at operating speed.
When you hear a rattling noise coming from the bottom end, or the light is still on above about 1000rpm ............ Then you have a problem.
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'88 Corolla, AE92 SR-5, 7A-FE swap/GT-S suspension
'87 Corolla, AE82 FX-16, 4A-GZE swap (autocrosser)
'03 Tundra 4X4 Access Cab, (FX tow vehicle/Home Depot runner)

Modification: Changing something to what you thought it should have been from the start!
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