I have an 02 tacoma with the 2.7L engine, manual trans - 93,000 miles on it. I have been noticing, lately, that when I am coming to a stop, not in gear, the truck almost acts like I'm in gear but forgot to push the clutch in - just for a second. It jerks and rattles then everything is ok until I am coming to a stop again. It also does this is if I put it in first just before coming to a stop (in a case where a light turns green but traffic hasn't started moving yet) - feels like it would if I had forgot to push the clutch in just before stalling out. But like I said, its doing this when the truck is out of gear (don't need the clutch in) and also when I put it in gear just before coming to a stop (with the clutch all the way in) - all when I am am just about to a complete stop. Its not doing this at all when I am at low speed or high speed. Anybody out there have a clue what this could be? Bad clutch?

 

Likely contaminated or old fluid. Refill with fresh fluid. Not with unused fluid from leftover bottles. I did that, and had worsening symptoms that were very much like yours. If you read about water condensation and trans fluid, it all becomes clear
Read here on YT that short drives and/or blocked trans breather vent are contributing factors.
Definitely check and likely time for a new fluid.

 

Checking/changing clutch fluid wouldn't hurt either. But my bet is on the trans fluid. Link has a picture of what water contaminated trans fluid looks like (2nd pic). So I'd check there first (after getting a fresh bottle of your fav brand and proper type).
https://www.yotatech.com/forums/f2/t.../#post52365262

 

Clutch going, pilot bearing ng, clutch master/slave ng.

 

I am due for some needed clutch/trans work below, so yes, beware. More involved than a simple fluid drain and fill, but a start.