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Nothing at all just turns over. But will crank if you pull it off and pop the clutch

I have a 05 tocoma 2.7 2wd 5 speed. It is getting to where it takes a few minutes to start and sometimes it won't start unless you pull it off and pop the clutch. Fuel pressure is good and only codes showing is o2 sensor and crankshaft position sensor. is that the problem and if not can someone...