So last month my 4Runner had hard shifting using the gear selector over a period of time. It was barely noticeable. While my wife was driving, she said it was hard to use the pedals and her check engine and TRAC light came on. She drove straight to Toyota who later confirmed it was the transmission switch. The advisor said he has seen about 12 of these issues the past year and considering how many 4Runners are out there, it's pretty rare for it to happen. I guess we just got lucky.
Out the door price was $626. Everything feels smooth now and runs well.