My 2002 sr5 doesnt have a smart key? do you have the LX model? didnt think 3rd gen have that. maybe LX models do?
I agree is sounds like a security issue. since you have no codes and it ran just fine before I doubt anything is going on. The spray should get a few fires if they are sparking.
The fuel pump is easy to hear just get in the car first and turn the key to on, you canhear the fuel pump prime, If your worried pop the fuel door and undo the car and have someone listen there. you will hear it.
Like others have said if you need proof if its sparking or not, pull a plug and keep it plugged into the coil and hold it to the ground terminal or any metal on the engine. crank the key you will see spark or not.
I have a cheapo spark plug tester
Amazon.com