Hello there. My name is Nate and I've been searching Yotatech and other websites in search of answers to the problems that my 4Runner is experiencing. I came across your post about the VSC and the hesitation on acceleration and those are EXACTLY the sypmtoms that my 4Runner has as well; I mean EXACTLY! So I was excited to actually encounter someone with the the same issues, and it just so happens that my truck is also a 2002 4x4 Sport. I've owned a total of four 4Runners since 2000, year ranges '96 to '02, and have never had these issues before with any of them. After reading your post, I'm curious to know if the problems were ever resolved and if so, what the cause/causes were and how they were fixed. I've already taken my truck to a mechanic and now it's at the dealership and nobody can really tell me what is causing the hesitation and the VSC problems. My mechanic said he did the Zero Point calibration and that didn't work. Please let me know if you can help. Thanks!