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Idle Issue

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I have a 2000 nissan altima (4cyl automatic transmission) with 148,000 miles. I am experiencing a random drop in RPM's while in gear. I have had a garage run numerous tests and everything seems to be functioning great with no codes. We have checked all sensors, checked vacuum leaks, egr valve, and compression. I have replaced plugs/wires, idle air control valve, and a bad intake manifold gasket. When the diagnostic tool is reading the computer, it looses connection when the rpm's drop. Everyone is completely stumped. We have narrowed down the possibilities to a bad computer, security issue, or ground issue. Can anyone help me?

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