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I suspect engine ignition timing and you should, too. But, with all this non-adjustable computerized stuff, I don't know how to go about adjusting it. It probably requires some very expensive, specialized equipment.
Just tonight, for the first time with this 03 Sienna, I had an intermittent timing incident. I accelerated from a traffic light and had gross loss of power; but, the cylinders were firing consistently. I started doing my own mechanic work when I was old enough to drive, when everything was user-adjustable, pollution control was years in the future and computers existed only in science fiction movies. I am very familiar with this symptom. It indicates the ignition timing is off target. It lasted for about a quarter minute and corrected itself.
My guess is the timing on this car is off by at least 3 degrees all the time and maybe even the car's computer is defective.
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