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Is it my starter, battery or alternator? on 2001 Lexus ES300

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My check engine light came on a few months ago. Dealership said it was a sensor in which I didn't have replaced. Just recently my car has been stalling to start. It sounds like it's straining to crank but eventually does. My battery light came on in the process but went right back off along with my check engine light going out as well! It still runs but I'm afraid of driving it to far away. Please help anyone!!!!!
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