about timing

[yaris9876]

When my 07 was running ,it was racing idle and running rough. I know the cam gear is sticking at least but it might not get fixed depending on money.
I think the ECM is geting a bad signal to feed more gas based on the cam position sensor. It comes and goes but the idle races badly off/on and timing is generally advanced badly.
Here is the question... will a regular non dealer tech be able to adjust the timing
with the aim of just making it better if not right on??? I dont think it will be
really right until everything is fixed but it might make it more tolerable.
another question..is there any way for myself to adjust the timing without the
dealer computer program??? do any of the basic scan type tools have the ability to make minor adjustments??? this is a good question for that Toyota tech
who posts here..