The dealer confirmed my problem was a faulty speed sensor and charged over $700. I paid them $120 for diagnostics, went out and ordered this part. Since I was working on a wheel bearing replacement on another Toyota, removing this wheel sensor wasn't difficult at all. Basically, you need to tighten the wheel well and take out 4-5 bolts. The only thing that took time was a square plastic wedge, but that's not the manufacturer's fault (and if I probably know what I'm doing, it probably isn't that hard). Took me a total of 2 hours. Depending on your vehicle situation, you may need access to Toyota Techstream software (there are other OEM tools that claim to do this) and a cable to reset and run the calibration. I had to do that. Some have complained that the part is cheap, but it's not something that "moves" so I'm not worried. And at this price point and in a short amount of time I wouldn't change it every few years. My car has been running fine for a couple of weeks now so I'm happy.