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2001 Camry, 219xxx miles, accelerator sticks when starting from a stop on 2001 Toyota Camry

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Push firmly, accel pedal breaks loose, works fine. Camry has 4 cyl engine, Auto trans. Does not stay in place when I let up on pedal, only when starting from a stop, after driving for a little time,on or off cruise control. Does not stick all the time, but frequently.
(2) Answers
Then the 'worn' throttle stop screw needs to be turned clockwise 1/2 turn! If you have the required tools to do so. If any doubt have it done at a repair shop!
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