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First thing I'd try is disconnecting batteries over night, let it relearn. If issue so persist get or borrow an obd2 reader and diagnose the car. Still not working? Send it to an auto shop for (maybe free if theyfeel like taking a quick look) estimate/check (if you want to know for sure the problem, send to toyota they'll be more than happy to take your money).
I've seen something similar too this, if the car was mod than returned to shock to sell and they forgot to reflash to stock tune, engine will have a hard time.. such as your issue, from what you're saying it looks like it's in loop mode. BTW I doubt it's a defect, just saying..
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