4dr 4wd 1999 Rav4, 136K miles, has been trouble-free for 6+ years. Cold start, fired right up, idling for 30-40 seconds, engine stalled & will not re-start. All fuses are OK and the plugs are firing - must be fuel supply. Is there an inline fuse or filter?
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I would check the computer for codes and then do a compression test. A fuel filter does not just go 'poof'. When was the timing belt replaced? Good Luck!