Check and clean MAF sensors.. Any dirt/rubbish will affect fuelling and NOT show on any diagnostics.
Note: delicate operation : care needed. Google a how to do it...
Thanks for the tip. As my Rav is a 1998, I don't think it has a MAF sensor (2001 onwards according to my Haynes manual) BUT it does have a Manifold Absolute Pressure sensor which I presume does a similar job to the MAF. Anyway I took this apart, cleaned it and re-connected it and it seems to have improved the running - it did have some water on it. Fingers crossed!
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