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My car idles at a high rpm and makes a strange noise while idling and driving. on 2001 Toyota Highlander

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My car has always idled at around 1000 rpm, but recently it started making a strange noise while idle and while driving between 1000 and abour 2500 rpm. It stops when I go faster, btu when driving low speeds it sounds like the car is humming almost. Any advice? No emergency lights have come on.
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