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2001 Toyota Sienna - Flashing CEL

Check engine light came on. The engine started acting up with some rumbling. Pulled over and turned car off. Started it again and after 5 minutes of driving the check engine light began flashing. Got home the engine started running smooth again, but the check engine light is flashing on and off while the engine is idling. Have not driven it since.

Good choice , flashing means a serious problem and probably should be towed to a shop . If the shop is really close then ask them if they think you can drive it to them .