This sounds like a typical Toyota failed IAC (idle air control) fault. The idle air control valve is designed to control the idle during different situations, such as a cold engine start, when the a/c is on, during turns, etc. The most common symptoms are, crank no fire cold, crank no fire warm, low idle, too high of an idle (approx 2000 rpm), idle doesn't increase when a/c is on, stalling when comming to a stop, will fire when the gas pedal is applied. This condition can be tested at any repair facility equpped with factory level scanner software. Also, when the valve is replaced, the throtle body and blade should be thoroughly cleaned of carbon buildup, as well as the IAC passages in the throtle body. This valve was such a common failure during the '95-'00 year span on all Toyota cars, that it was replaced on avarage at 60k miles, with an updated valve, capable of lasting longer. If you are the original owner, you may recall having this part replaced before.
-Rip
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