Rough Start when warm

I have a 99 avalon w 50k miles and it starts fine when cold. When I have been driving it and then turn it off for a little while to run an errand, etc, It starts very rough. It will crank but the engine will shake very hard and hesitate. Most of the times it will start, sometimes it will turnover but then immediately stall.

I have a new EGR valve, and just replace the spark plugs and wires. Any help would be appreciated. Thanks