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I had a similar problem in my own 2010 Prius. Just like you, there were no check engine warning lights and I didn't notice any...
i'd take a good look underneath at the length of the exhaust system (up on a lift would be best) clean the entire engine compartment so...
YarG GerG posted a new thread.
(Went on reddit and was unable to get any help so I thought I would go here) I would appreciate any assistance if anyone has any idea...