formatting link
Read the technical data section - safe for continuous use, Toyota four cylinder benefits after 10,000 miles, but you may also notice some immediate improvement. The main idea, is cleaning the valve faces and injectors to equalize each cylinder resulting in a smoother idle plus the side benefit of better overall power. Much of the efficiency of the Toyota four cylinder engine derives from the four valve per cylinder engine configuration, so if the breathing capacity is even slightly restricted over time, there can be an adverse effect. Check the spark plug wires also. One of mine had been shorting inside the spark plug tube near the bottom, although that type of weak spark was more apparent under load, ie., acceleration. I just used the service manual recommendation of not more than 25K ohm resistance per wire, and two showed infinite resistance. For my money, you want to stay with factory stock plugs for Toyota. The Bosch have a very small center electrode prone to fouling. ND should be the stock plug if needed. Wouldn't hurt to also check the PCV valve (and grommet also if you replace). Not sure this would have an effect, but always a good idea to check the transmission fluid also, should be relatively clean, not darkened from overheating or extended drain intervals. Also may be helpful to check accessory drive belt tension. This is a maintenance item that is often over looked. Power steering fluid another item to check for condition. There doesn't seem to be an official service recommendation, but old dirty fluid can't be good for the system. May not be affecting your idle though. Just ideas. Areas to check. By keeping up on all the maintenance items, have found the four cylinder vibration at idle in Drive quite minimal.