CAN-03runner, your experience makes sense. Any device (aftermarket or dealer scanner, code reader, tester, etc.) that is CAN-capable would tend to have the same risk with the 4Runner, where its attempt to communicate with the pre-CAN 4runners *could* cause the yaw/deceleration sensor memory to be cleared.

It won't happen every time, but it does not seem to be particularly unusual. IIRC when it first happened to me the ABS light was also lit, but that didn't last long and didn't come back. I don't remember seeing the check engine light come on, but it's been a long time and my memory is far from perfect.

For someone with the dedicated Toyota "hand-held tester" this reset of the yaw/deceleration sensor memory is really quick and easy (5 minutes), and no justification for a $94 charge, even if they weren't the cause of the problem in the first place. Fortunately it's a pretty easy thing to fix yourself.

If you want to find a way to consider yourself lucky, consider that some people have had this happen and been quoted $1k+ to buy and install a new yaw/deceleration sensor. The unfairness of that really grates on me, but I have come to see that the skill and integrity of repair folks is all over the map. Not much to be done about it, I suppose, but to frequent a forum such as this.