DAC is very jerky, that's just the way it is.
it works best when in 4LO, and the shifter in 1st gear. That reduces the extra work from the engine.
You are right in that the vibration is from the ABS system/brake modulator. It sounds different than normal ABS because it is modulating each wheel independently, so four times the noise. And the amplitude (strength) of the vibration changes when two or more wheels need modulation at the same instant... so it feels very random and out of control, but it's the opposite.
The brake modulation system in our 4runners is one of it's greatest strengths.
one quick health check is this...
With the the ignition on but don't start the engine... and just start pulsing the pedal like mad. All the way up, all the way down. Fast as you can. You should get a lot of pumps before the computer yells at you as the brake assist charges back up.
I'll post back tomorrow after I tell you the number of pumps I'm able to achieve. Offhand I'm thinking like 10.
The number of pumps should be repeatable, and far more than you can conceivably need.