i had a broken wire coming out of the tailgate that caused the exact same issues you describe and once wire was repaired all is back to normal. it was throwing speed sensor code also
FRONTS X 2 = 90917-06046
REAR = 17451-50050
This is for my '99 LX470 but assume would be the same for the land cruiser and just the gaskets used to replace muffler.
28100-50070-84 is for production dates 1998-01 2000-03
28100-50100-84 prod dates 2000-03 to 2002-08
According to my parts catalog. Vin # or production date of vehicle is needed to figure out correct part #