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Q:

Sometimes the car will not start on 1999 Toyota RAV4

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The motor turns over, great battery power. After waiting several minutes the car will start and then chokes out. Could it be the crank sensor?
(1) Answer
The rav4 and camry have had issues with the idle air control valve. If your car starts up and stalls out right away, I would suspect the IAC valve. You can try to start your car and put your foot on the acceleration and this will force the car to stay running, after it warms up it shouldn't stall out anymore. You will need to have the IAC valve replaced. You could also try having it cleaned, but it would only be a temporary fix.