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I had the same problem on my 02 3.4L, just replacing the IAC did the trick for me.

Just put some bfg ko2 A/Ts 285/75r16's on my 02 TRD 3.4L and have had them balanced 4 times in the last 6 months since I purchased the tires. I've run the same size ko1 A/Ts the 2 sets previous to the ko2s without a single issue. Did i miss something? Because I've replaced the inner tie rods and...