Just reviving this old thread after I stumbled upon a device I can confirm works on 4th Gen 4Runners. I'm not in any way affiliated with the site but I reached out to the owner of the site which is for the old Lexus SC 430. After he looked at the step-by-step info in the TSB he confirmed it should work and even offered a refund and to pay for return shipping if it didn't work.

This guy sells a device that you plug into the OBDII reader when the truck is off. Turn the key to the ON position. Wait for the lights to flash. Turn the truck OFF. Remove the device. Profit.

I used it on my 4th Gen today and now it's a new tool in my toolbox just in case I need it. I've had this VSC Trac issue about 3x and this makes fixing it a breeze. It's about ~$10 shipped.

Enjoy!

VSC reset calibration tool | SC430Mods