No worry. If your truck says "Made in Japan" on the sticker in the driver's door frame, or the VIN starts with J, you most likely have a Denso pedal, made in Japan. Except on the Camry. The pedals that are failing are made in Canada by CTS for North American assembly plants. Apparently you can get down there with a flashlight and read "Denso" on the Denso pedals somewhere.
The failure is on a little shock absorber that gives the pedal some resistance and feel, it can resist too much and the spring can't push the pedal up. Our trucks still have mechanical links from the shifter to the transmission, so you should be able to pop it into neutral and let the rev limiter keep the engine from blowing 'till you get off the road and shut it down. Or you can pull the pedal up with your foot. I wouldn't shut it down with the key in traffic because you'll lose steering and brake assist, and possibly lock the steering.
edit: A little googling indicates that all 4Runners have been made in Japan, so they won't have the CTS pedals.