I’ve had similar issues in the past usually while turning out of a parking space or while starting to back up while turning. I unplugged wheel sensor kind of cleaned it out then plugged it back and the issue stopped for a long time but now it’s back just haven’t replaced the part yet.
Recently bought a 05 4 runner cylinder 6 coil plug has been replaced as well as water pump not sure how long ago It has 275k on her no symptoms of a blown hg. Would like to be sure before it damages engine what would be the best way to diagnose?