How long have you had the truck? Was it working fine and then suddenly got sluggish, or is the truck new to you and you're just now discovering the craptastic combo that is the 3VZE motor in front of the A340 transmission?
Next question, is it shifting normally, or is it trying to start out in 4th gear? Try manually shifting through the gears and see if that makes a difference.
Also try pulling the engine codes, even if the check engine light isn't on. There could be stored information in there that's helpful.