Car is sluggish and dies at stops .Idles fine when it's in neutral or park

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My 1995 Toyota Camry It's kind of rough And chugs as its runningKind of like sluggishKind of like it chugs. Dies at stops but if I have it in neutral it idles fine and it doesn't happen all the time Some days it's just fine and doesn't do it at all I took it in that head of my hook it up to the diagnostic machine and it read nothing wrong