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Rough idle could be exhaust gas at idle, the EGR should be off at engine idle. No exhaust gas rerouting at idle, closed throttle, engine cold, light engine load or above 4000 RPM.
Could a stuck EGR valve, bad VSV valve (controls vacuum to turn on/off EGR valve) or valve position sensor.
Run down the VSV valve, remove the vacuum line going to the EGR or coming from the intake manifold (plug any lines to prevent leaks). This will turn off the EGR valve. Determine if the engine runs and idles better.
The AutoZone website may have some info on this system. The site has a self repair section for various year/make and model cars. If it does not list the Avalon use the same year Camry with the V6 (1MZ-FE) engine. The two models are almost the same.
Or pickup a Haynes manual (under $20) or try your local library that may have manuals.
There is a trouble code for the position sensor P1410.
With the Haynes manual service info you should be able to test the sensor with an ohm meter.
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