Active Traction Control System activity?
As I read your thread, it reminded me of an experience I had about a month ago. I was slowly driving on grass, driving onto pavement, as I was passing through a narrow garage door opening. I was easily under 5mph, but gave a little gas to get off the grass, and over the concrete hump. As the 4Runner went over the hump, I heard a loud thump and an indicator lit up: the car symbol with wavy lines. To tell you the truth, I can't recall if the VSC TRAC warning light came on too. A few seconds later, I was on solid pavement, and the light went out almost as quickly. But, the noise scared the bejesus outta me, and I immediately whipped out the owner's manual.
After flipping through the manual, came across the Active Traction Control System section (4 wheel drive models). It stated the following:
When the active traction control system is operating, the following conditions occur:
* The system controls the spinning of the 4 wheels. At this time, the slip indicator blinks. ((The symbol I described above))
* You may feel vibration or noise in your vehicle, caused by operation of the brakes. This indicates the system is functioning properly.
((I may feel vibration or noise? Hell, I thought someone hit my axle with a hammer))
Now the "VSC TRAC" warning light section just so happens to be the next subject in the manual. It does state that:
"This light warns that there is a problem somewhere in the following:
* Active traction control system
* Vehicle stability control system
* Downhill assist control system
* Hill-start assist control system"
So, perhaps you just experienced slippage (oily pavement on a hot day and/or tire grippage, as you state you were on dry pavement) and the VSC TRAC light came on in regard to an action involving the active traction control system. Check your manual for more information that I cannot come close to cross-referencing here. For the 2004 manual, its on pages 169 onward.
After reading the manual, you will be a master of "if-then" logical reasoning.
Hope this information is of some use. BTW, I've put on at least a 1000 miles or more since that incident, with no problems or warning lights. That was my only horror story to date.