Does it lag? If so, check the fuel filter.
Change the air flow meter.Hope that was helpfull
Sounds like a timing issue. Was your timing belt recently changed or have you serviced this at all?? I work on these v-6 motors the 3VZFEs and the 1MZFEs. Many mechanics that perform timing belt replacement on these V-6s, improperly set the rear cam sprocket to mark causing offset timing. These engines will still run almost normal(no missfire) or may encounter very low idle and very lowend power, run hot or have a very slow takeoff. Have the timing checked, if offset have an experienced toyota mechanic work on it.
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