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Check the basics first (air filter, belts, plugs) but the most likely cause is dirty throttle body or mass airflow sensor. You can easily clean both on your own although MAF sensor should be replaced after 100,000 miles. Throttle body can be cleaned with Seafoam penetrating lubricant and a toothbrush or wire brush.

You may also want to test the alternator (Toyota calls it the generator)

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Q: Why does my Toyota Echo have rough idle with air conditioner on?
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