We'll I did some more research and I came across this thread.
3rd Gen Yaw Calibration
01-02 4Runner How to Zero Point Calibrate your VSC system. - Page 2 - YotaTech Forums
Going to try re calibrating the YAW sensor, will update this thread for future research purposes..
This is the procedure for calibrating the yaw sensor:
1. Open the DLC-1 diagnostic port on the driver side in the engine compartment
2. Turn the ignition on
3. Using the jumper wire connect the E1 and TS pins 4 time or more within a 8 second period
4. Check that the VSC TRAC light on the dash came on again, it should be on for several seconds and then go out
5. Turn the ignition off
6. Wait a few seconds, then turn on the ignition and wait for the VSC TRAC light to go out
This is the procedure for calibrating the deceleration sensor:
1. Connect terminals E1 and TS again on the DLC-1 diagnostic port
2. Turn the ignition on
3. Check that the VSC TRAC light is on for about 4 secs and then starts blinking at 0.13 sec intervals
4. After the light has been blinking for 2 secs turn the ignition off
5. Remove the jumper wire
If anyone else has any other ideas feel free to share the knowledge. I will be driving this truck 90 miles 5 days a week so I want to be as safe as possible.