krealtors 
2002 Toyota RAV4 SUV 2WD 4dr SUV (2.0L 4cyl 4A)
problem fixed
 I also had a transmission problem, but because of toyota they have extended the warranty until 10 yrs or 150,000 on 2002's not sure about other years. toyota dealer just replaced my computer and if problem comes back they will replace the transmission for FREE, I also didn't pay anything for the ECU (computer). I also believe service lady said they will also cover TCU as sell. so check with your local dealer.