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Welcome,
The idle speed on a supra should be somewhere about 600rpm. If you're measuring off hte stock tach, it's probably close. As long as it is smooth that's all it needs. That said, on cold start it should race up to over ~1500 and come back down as the engine warms.
The lower ball joints are replacable by themselves, but the uppers only come with arms. It sucks when the time comes, but it only needs to be done every 20 years if the car is treated right, so really compared to anything else I've owned it is not too bad.
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