a borked O2 sensor will only affect cruise and warm idle and only with a limited range (the ECU would fall back to the fixed map rather than apply minor O2-sensor-driven correction to fueling).
Also have a look at the CAT - it might be blocked/melted/borked.
The auto might also be an issue if it's slipping a lot and the convertor not locking up when engine/box is warm and cruising.
You can test the ECU coolant sensor by connecting it to a multimeter and dunking it in hot water - resistance should drop as it heats up.
You can test the ir temp sensor in the AFM in similar fashion but use your breath as a heat source (duh) as the AFM wont take kindly to a hot, watery soak.
The clean plugs and lack of sooty exhaust suggest the engine is running fine and there's something else afoot (e.g. box, driving style?, leaks, etc.).
Lastly, dont forget that most toyota fuel guages are non-linear in bahaviour (and the variation across models is also non-linear). Fuel level sensors seem to be the one thing that toyota never gets right.
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