Something is just not right with my 4runner. Last night (dry weather but cold) I went to go stop before a turn and the ESP kicked in and the truck accelerated violently. This was at a straight stop from medium speed. Today my wife is driving it and its snowy out, the vehile shudders at acceleration like the ESP is engaging but it shouldn't be. Also she goes to stop today and had to press hard on the brakes to get them to do anything (the pedal felt like it was resisting pressure (same thing happened after it randomly accelerated when i was driving last night. Any ideas???