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I'm assuming your 4runner is an automatic, so (2) choices comes to mind.
(1) First choice is, the torque converter in the transmission or
(2) Bad CV joint can be the problem.
(3) Or something else, but I don't know what.
Answer for #(2). CV joints can go bad anytime, because the boot can be ripped by
road debris kicking up, and grease oozes out, and dirt/rain can
get in causes early failure. Do not just replace the boot, because
you're wasting your money. By the time you discover the boot is
ripped, the damage has already occurred. Trust me.
Answer for #(1) There are exceptions to every general rule, but I'm guessing you
have not flushed your automatic transmission regularly. Check your
owner's manual as to how often it should be done. If you haven't
followed exactly the maintenace schedule, usually 24-months or
30K miles, you are at risk for transmission failure. Someone needs
to look at the Transmission Fluid, and the color should be pinkish,
and there should be no burnt odor. Evaluation of the transmission fluid
is more important than anyone guessing, including me. Worst case
senario, you get a re-manufactured transmission from Jasper. Best case
senario, you need a half-axle on either the left side or right side. It is
rare that both half-axles fail at the same time. (There is an inner and
outer CV joint in each half-axle).
Answer for #(3) Don't know
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