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I have done some research and it shows that it has something to do with my egr valve sensor? is this correct? should I replace the sensor and see if that fixes it or will it be something else?

Vehicle: 1998 Toyota Avalon

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I ended up replacing the egr valve sensor or solenoid which was very simple and that turned out to be the problem. The egr valve cost around $30 from autozone. The scan test was free from a local repair shop.
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Find a shop in your area, that has the Toyota Techstream, then you will
be with a good repair shop for your vehicle. 

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