I just wanted to pass on what finally cured the same code for me, it may or may not apply to you. After several visits to the dealer, their best diagnostic tech got with the Toyota factory techs and solved the issue. It was a puzzle because the car was always very drivable with no noticeable performance issues. It turned out to be a throttle position sensor just slightly out of spec. (at least that's what I was told) the sensor was replaced quite some time ago and I haven't had an issue since. The trac control still works so I don't think they did anything jenky like D/Cing the trouble lights lol. Its an inexpensive part and may be worth a shot if you can find anything else. You could go through the process of testing the sensor but in my case it was only slightly out of spec.