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Not sure about the Toyota but my 94 madza you raise the rubber up around the bottom edge and there is 5 or 6 screws that fastin it to the floorboard of the truck. I also had to remove the knobs off the shift so I could lift it off.

Probably need to replace the throttle positioning switch for the idle problem. It could also be a vacuum line. The starting problem could be several things such as your timing, fuel pump, coil, injectors etc. Good luck.