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Had this problem in a major way, to the point where we had to be in neutral when idling (at stop lights, etc.) to keep the engine from dying.
Took it to the dealership (because it was the engine) and after spending $1300, it improved, but not at all fixed. It does seem to be related to the pistons/plugs. I have a '95 Tercel DX and am now thinking of having the cylinders re-bored to add a bit of power and replace the whole piston assembly (proper term?). I figure after 12 years of great operation, it's the least I can do to give the engine more life. I am figuring that it will solve that burp issue too, but I still need to talk to a mechanic about this.
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