The computer states the manifold absolute pressure is larger then expected when the EGR system should be on. Hence the EGR system is not working as it should be.
EGR valve could be stuck closed or the pipe the runs the gases to it plugged up. These items can be cleaned. A problem with VSV or EGR valve malfunctioning. Open or short in EGR VSV electrical circuit (can test this with a volt/ohm meter), vacuum hose leak/plugged to VSV or EGR, MAP sensor or ECM. If the car runs OK doubt the last two are the problem.
Do a TN history search as this same code question just came up.
Download the 2000 Avalon manual at the link below, should be close enough to help you.
http://d01.megashares.com/?d01=badd2e4
If no help, you can download the Gen_4 Camry manual from the site below. The two cars use the same V6 engine. Download the Diagnostics Section.
http://oregonstate.edu/~tongt/camry