Since you have a 2001 4runner, you will have 1 cable only that controls the tranny. Cruise and acceleration are now ECU controlled. It is known as drive-by-wire.
Check the color of the ATF. If dark, drain it and refill with one that is DexIII approved or higher. Check the level by warming up the ATF, then running through all the gears from P to 1, then checkthe reading on the HOT level on the tranny dipstick.