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Can you please clarify what you mean by should you set your timing? How many miles do you have on the vehicle and are you referring to the ignition timing? Is this a four-cylinder engine or V-6 engine?
This car does not have any ignition timing to set. The computer controls the ignition timing completely. This is a distributorless ignition system. You have two coil packs that are controlled by the computer to control the ignition spark depending on engine load RPM and so on. The timing belt on this engine is supposed to be replaced every 90,000 miles and no more than 110,000 miles. That is something completely different. If the timing belt has already been done and you're simply doing a tuneup it is very simple just replace the plugs and filters in oil and you are good to go there is no ignition timing setting on this. Please do not forget to rate the information that I provided to you at three or higher and if you need additional input feel free to reply and I will get back to you.
I'm not sure what you mean by one of your distributors not firing. This does not have a distributor. Are you referring to a cylinder misfire and has the check engine light on recently? Do you mean the spark plugs are carboned over or have deposits?
If the deposits are severe it is possible the wires may need to be replaced. Those four wires go to the individual coil packs. If you get high resistance in the wire sometimes the wires will arc or burn causing problems. Use quality ignition wires when you replace them and I prefer only Denso spark plugs.