The Toyota factory service manual has a pretty good trouble shooting guide, and will have you check all of the sensors with a digital multi meter. Have you looked at the spark plugs, do they show signs of a rich fuel mixture? How new are the plugs, wires, etc? The way I found my problem was when I moved the airflow meter with my finger the RPM went up, that is when I took off the air hose and checked for holes. If there is a leek in the air hose the engine can't pull the right amount of air across the airflow meter, if it can't then the ECM will not schedule the right amount of fuel. If your spark plugs have a dark sooty appearance, then you may have an enriched fuel mixture, which could be a leaky cold start injector, or one of the four other injectors. Back to the lack of air, you may also have a bad air flow meter