It doesn't want to idle but otherwise runs

It is a 1996 RAV 4 … Any idea where to start looking?

Clean the throttle body and check the manifold air fold thingy that is attached, I had one of those go bad…from a non-mechanic
If you have a code reader might try and look and see if anything shows, maybe in the freeze frame data.

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looks like this, should be able to find the test procedure somewhere

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If it really runs like normal, but won’t idle or idles rough, you can check this too.

https://itstillruns.com/clean-iacv-toyota-rav-4-7980907.html

What he said. Replacing it is going to the likely case, given the age of the vehicle.
BUT, I would look for a vacuum leak before cleaning, or replacing the IACV.

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