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My 98 Taco 3.4L was doing that for years aong with a slightly rough idle and finally it progressed to a cylinder misfire code. I pulled the injectors and found one that was twice the specified resistance.
Haven't put it back together yet so I don't know if the power loss at high load/rpm will go away.
After finding the bad injector, I pulled the plugs and the plug in the bad cylinder was quite a bit lighter than the rest but I'm not sure if I would have noticed it otherwise.
Although I just re-read your post and you say it stumbles so it sounds more like ignition. Mine didn't really stumble, it just felt like somebody instantly reduced the throttle by about 1/3.
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