I had the sluggish lock problem and almost gave up. What worked for me was to do the 5 lock/unlock cycles using the key in the drivers door. I'll attach an image of the Toyota instructions I used for the programming sequence. The note at the top was added by me about using the key in the lock instead the auto lock button.
I got the fobs off Amazon and I think the cost was 19.95 for two. While the fobs now open and lock the doors, the fob button for the back window doesn't work. And the Alarm button on the fob back is way too easy to press accidentally so I covered it up by taping a piece of plastic over it.
2000 4Runner sr5, 4WD