Same thing happened to me last week, erased the code and continued on my way. With 250 000kms I always wait till i see the code come back a second time then I diagnose. The part has a chance of being defective especially if it's a non original part, 4runners seem to be allergic to them. I work at Lexus so when I got to work I looked into the code and the diagnostic instructions said to check the operation of the pedal, cable and tb before continuing to the tps. Then check the connector, wiring then the 5volt reference and then the ohm reading for the tps.
Terminals Throttle valve Resistance
1 ∼ 3 - 2.5 ∼ 5.9 kΩ
1 ∼ 3 Fully closed 0.2 ∼ 5.7 kΩ
1 ∼ 3 Fully open 2.0 ∼ 10.2 kΩ
Also check your air filter and clean your tb with carb cleaner.
Good luck and I really hope it doesn't come back for me too soon since I just ordered my whole lift kit and body lift, I officially have no more money.