yup, you should be able to adjust it at the pedel, it would be at the top of the pedal (press on pedal, top portion moves away from the firewall)
Another option would be to replace the throttle cable, could be a pita though. Sounds like a stretched cable.
You could also adjust the kickdown cable, I did that on my 4runner and I liked the result (better shifting) The kickdown cable connects from the throttle body to the transmission. You adjust the cable from the throttle body, it should be running in the opposite direction that the throttle cable does. (it was like that on my 00 anyways.)
Another option would be to replace the throttle cable, could be a pita though. Sounds like a stretched cable.
You could also adjust the kickdown cable, I did that on my 4runner and I liked the result (better shifting) The kickdown cable connects from the throttle body to the transmission. You adjust the cable from the throttle body, it should be running in the opposite direction that the throttle cable does. (it was like that on my 00 anyways.)