You should start by changing the engine oil. If the problem persist you may have to replaced the Camshaft Timing Sprocket.
What model and year is your Toyota? There is a factory service bulletin for some models.
More information here: https://www.autocodes.com/p1349_toyota.html
Find a shop in your area, that has the Toyota Techstream, then you will be with a good repair shop for your vehicle.
33.7k questions
32.5k answers
1.3k comments
23.0k users