This normally means that there is a misfire or there is an issue with the exhaust system.
We need to start with checking for codes. Here is a guide that will help with this:
https://www.2carpros.com/articles/checking-a-service-engine-soon-or-check-engine-light-on-or-flashing
Once we know what codes are there, we will be able to better know what the possible causes are. However, as I stated the normal cause is a misfire so here is a guide that covers what we need to do to start with this unless there is a code pointing in a different direction.
https://www.2carpros.com/articles/engine-misfires-or-runs-rough
Lastly here is a guide that covers the general info on the emission system to help explain what may be the issue:
https://www.2carpros.com/articles/how-emission-control-systems-work
Let me know what questions you have. Thanks
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Wednesday, December 2nd, 2020 AT 2:25 PM