somehow your stability control system's " zero points got erased" youll need to take it to a dealership and have them reset them. or you can do it yourself using a jumper wire like a doorbell wire with each end stripped you'll need to park the car on level ground, straighten the steering wheel place the car in park turn the switch on alow the lights on the dash to flash (they will just turn the switch on for a second or two the turn it off.
locate your OBDII connector under your dash find terminal pin locations 4 and 12 you'll be shorting those together a few times to start the calibration search on google for how to reset zero points yaw/ decent control system toyota 4runner and you should find step by step instructions.
I'm confident this is your issue cuz it happened to me an i had a hell of a time figuring it out all of a suddon you loose throttle power (cant get over 1500 rpm) and the dash lights TRAC off and VSC flashed up along with the check engine light, unpluged the battery to clear the codes, then i was able to start the car and drive it normal but the trac off and vsc lights were still on. (the vehicle drives better offroad with this system disabled FYI) but once i reset the zero points everything was great again. I think toyota had some throttle body issues and made a recall to fix this problem. hope this helps if you have trouble finding info on how to reset the zero points i have documents on it i can take pics of an post up