Loss of power and engine light on in Landcruiser

Hello everyone, I own a 2003 Toyota Land Cruiser with 290,000 km on the odometer. I've noticed a loss of engine power. The engine starts fine, and the battery and connections are in good condition. I usually let the engine run for a minute before driving to properly lubricate the engine and turbo. However, the check engine light sometimes comes on, and at those times, the engine idles low and won't rev, which is dangerous because I have no power and can only drive at 50 km/h. To solve this problem, I stop, wait 3 minutes, then restart. The check engine light goes off and the engine revs normally. Sometimes, I have to turn the engine off a second time before it works correctly. Would you have any advice or ideas on what could be causing this problem? Thanks in advance for your help.

(Translated from French)

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