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

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.

Asked by for the 2001 Toyota Camry
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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Clean the throttle plate, flap, of black sticky build up with some carb cleaner.