Engine light on - p1133 and p1153 codes on a 1999 toyota Solara and Rav4

I have a 1999 Toyota Solara and a RAV4 and for the last 3 years I been getting a P1133 code on and off. Cars run OK but the light on the Solara is staying on longer. Before I go to the dealer and pay the big bucks I'd your opinion. Thanks in advance.

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DaveG
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