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On earlier 4Runners this problem was also caused by the ABS/Traction Control computer completely failing, and could only be fixed by replacing the $1500+ computer. I'd try replacing the VSS first.
Apparently you can also start hacking in to your wire harness to disable the ABS computer.
The VSS is the vehicle speed sensor. The wiring harness hacking would be to permanently disable the ABS and TCS modules (which will likely necessitate a call to your insurance about the now permanently disabled safety features), but should return speedometer and odometer function.
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