With that compression, there should be no trouble starting. Some suggestions:
Check for GOOD spark when it is not starting. If a GOOD spark is present, then the problem is elsewhere.
Check fuel pressure when it is not starting. Pressure should jump up to spec as soon as the key is turned on. Lo-w fuel pressure will definitely cause hard starting. BTW, I have already found one Toyota car with symptoms like yours that had a bad fuel pump.
Another thing to check for is plugged exhaust. Usually caused by a melted catalytic converter. This would cause a drastic loss of power. It could also cause hard starting.
As far as cam timing goes, if that timing is off (slipped a tooth as another poster suggested)m it will set a code telling you that it is out of sync.
Bear in mind that an engine needs 3 things to run: 1) compression 2) correctly timed spark 3) combustible fuel/air mixture.
Compression being that small bit off spec will not cause a starting problem.
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