According to Reuters, citing a document sent out to U.S. dealers, the repair will take about an hour and will be done at no charge until March 31, 2013. Overall, 933,800 vehicles will be covered.
Several of these models are also already covered by Toyota's major accelerator-related recalls for pedal entrapment or stick accelerator mechanisms.
A message sent to Toyota, to confirm details of the recall and the repair program, was not yet returned at the time of writing.
UPDATE: Toyota has posted a statement on the service campaign, clarifying that it is Phase 3 of a multi-tier service campaign--this time adding the 2009 Toyota Avalon and RAV4 models. "This is not a safety recall and submitting a Defect Information Report to the National Highway Traffic Safety Administration is not required," Toyota says, adding that they are conducting the service "in the interest of customer satisfaction."
This is not a recall, but the service issue might seem familiar. Last decade, the automaker had another ongoing issue with engine sludge in its V-6 engines, affecting some 1997-2002 Lexus and Toyota models. Although Toyota didn't recall the vehicles then, it did set up a special service effort for them.
2009 Toyota Avalon
2007-2010 Toyota Camry
2005-2009 Toyota Avalon
2006-2009 Toyota RAV4
2007-2008 Lexus ES 350
2007-2009 Lexus RX 350