2007 Toyota 4runner Electronic Stability Control Esc Problems

MY 2007 TOYOTA 4-RUNNER HAS A SERIOUS DRIVE SHAFT JOLT AND CLUNK THAT OCCURS WHENEVER COMING TO A COMPLETE STOP CAUSING THE VEHICLE TO LURCH. THE FIRST OCCURRENCE WAS AT APPROXIMATELY 6500 MILES IN MY SIX YEAR. TOYOTA HAS BEEN INFORMED OF THIS SEVERAL TIMES AND REFUSES TO TAKE ACTION. APPROXIMATELY 3 WEEKS AGO, THE VEHICLE DID THIS ON THE FREEWAY AT HIGHWAY SPEED OF APPROXIMATELY 60 MPH CAUSING THE VEHICLE TO LUNGE IN HEAVY TRAFFIC. TOYOTA WAS AGAIN NOTIFIED OF THIS AND REFUSED TO TAKE ACTION. ADDITIONALLY MY 4 RUNNER IS SUDDENLY GETTING THE "VSC TRAC" AND "VSC OFF" LIGHTS IN THE DASH AND CHECK ENGINE LIGHTS, WHICH ACCORDING TO TOYOTA OWN MAINTENANCE PROCEDURES PROCEDURE AS DESCRIBED IN TSB BR001-04 TO SOLVE THE "VSC TRAC" AND "VSC OFF" LIGHTS AND CHECK ENGINE LIGHTS, THE 4 RUNNER ONLY REQUIRES THE TOYOTA OBDII TESTER WHICH TAKES ONLY ABOUT 5 MINUTES TO DO, FOR A SIMPLE CALIBRATION MATTER, OF TELLING THE 4RUNNER VSC/TRAC COMPUTER "THE YAW RATE AND DECELERATION RATE ARE CURRENTLY ZERO" AND TO SAVE THE ASSOCIATED VALUES. THEN THE OUTPUT FROM THE SENSORS CAN BE INTERPRETED CORRECTLY. I HAVE GONE TO THREE DEALERS AND ALL WANT TO CHARGE ME IN EXCESS OF $600.00. THE LAST DEALER CONTACTED MADE ME COME IN, AND AFTER 35 MINUTES BILL ME FOR BASIC OIL CHANGE IN AMOUNT OF $74.00, AND SAID I SHOULD NOT WORRY ABOUT THE LIGHTS WHICH CONTINUE TO SHOW ON THE DASH. INDEED THIS IS RIP OFF BY BOTH TOYOTA AND ITS DELERSHIPS.