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Originally Posted by cl3ropp1
I bought a 2004 4Runner about 4 months ago. It had about 46k on it now it has a little over 53k. The same issuse pop up check engine light and the VSC TRAC and TRAC OFF lights are on. Had a buddy run scanner and two codes came back saying bad O2 sensors. He doens't think that both can me bad so he reset it and wants me to drive it for 40 miles and then tomorrow come back and he will run the scanner again. But my biggest concern is when I am sitting at a stop sign or light and proceed at green try to accelerate the truck goes no where but then it will all of the sudden pop and go. Can anyone help me out. I don't think that an O2 sensor would cause this, but maybe I am wrong. I think it may even be a bigger problem. Any suggestions or help would be great.  
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Mine had the same lights come on and threw a vehicle speed sensor code. I'm still sort of in the process of getting it fixed. It went to the dealer under warranty about 5 times before one of them was able to make the lights go off, but another symptom that showed up with those lights is still not fixed. The nav doesn't give me turn by turn guidance any more, and the vehicle position is poorly maintained, as if it's using GPS info only and not getting vehicle speed. I looked at the diagnostic sublevel of the nav and it is not seeing the vehicle speed sensor signal. So it doesn't know how fast it's going. They even replaced my nav head unit under warranty. I'll let you know when I get it figured out if I can remember. But you'd be better off registering at toyota120.com and searching for some pretty extensive discussions about 4th gen VSC TRAC and TRAC OFF lights.
Edit: forgot the most important part. My truck never drove differently with these lights on, and I DID have the check engine light on with them. If you get those two lights without the check engine light then there is a zero point calibration procedure you can try that has worked for others. Anyway, in the process of trouble shooting my truck I unplugged one of the VSS's on the transmission and drove it, and it was sluggish like you're explaining. I never kept the hammer down long enough to see if it would eventually "pop and go", but I suspect you may have an actual bad VSS on the transmission. When your buddy runs the codes again make sure it's not a VSS code. I replaced mine with one from autozone for $80 and nothing got any better, but my vehicle wasn't driving differently. Since it did drive differently with this sensor unplugged, I suspect replacing it may fix your issue. I actually still have that thing since they wouldn't take the return on an electrical part. If you want to try it, pm me and we'll work something out