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This would usually be caused by spark plugs that needed replacement; so if the plugs have not been changed in the last 15,000 miles; I would replace them with either Champion # 3013 Platinum Power, or Bosch # 4305 Platinum +2. This Bosch plug comes pre gapped; but the Champion should have the gap checked and adjusted to .054".
I would also recommend inspecting the air filter element; and replacing it if it doesn't pass light easily; along with cleaning the throttle body and the mass airflow sensor.
If these items do not clear up the problem; I would replace the camshaft position sensor.
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