Tacoma Prerunner Automatic -- My 2.7 liter is skipping intermitently at idle: runs smooth > then skips for a second; just short of stalling > idles fine for 3-5 seconds or so > then skips again. Runs fine otherwise: good power and driveability. I changed the plugs and wires about 10k ago. Doesn't seem to be using antifreeze -- head gasket issues. The engine has 160k on it. Any idea were I can begin to look? Timming chain issue? Faulty wires? Time for a trip to the dealer for a diagnostic check?

Try cleaning the throttle body. It may help to add a fuel injector cleaner in your fuel tank.
http://www.4x4wire.com/toyota/maintenance/tacoma_4runner_30k/maintenancep5.html