R.Regan

Hi guys, new here, have owned my IS200 for 3 months now but about a month ago a strange problem aroused, this has every garage i've visited stumped by the way! When i start the car it is fine, has high cold idle as it should and drops when it has warmed up a bit, while driving once the engine has reached optimum operating temperature i feel a little kick and the car wants to go faster(idle increases to just below 3k), in towns to keep it quiet i have to ride the clutch(then sounds like a V8 and the brakes go hard(only when riding the clutch)) EML on and TRC flashing, diagnostics said the camshaft position sensor which i have since replaced to no avail. Does anybody have a clue what's going on? Car milage is nearly 205k. Thank you all for taking the time to read this and i've tried to be as accurate as i can, any other questions feel free to ask