Toyota Repair: 2000 toyota tacoma acceleration, braking, lexus gx, gx series

Question
I have a 2000 toyota tacoma, automatic transm. with appx. 40K miles.  When accelerating from a full stop it will seem to hesitate, then jump ahead with a slight bumping motion.  When braking it will often come to a stop with a slight bump.  Problem is very intermittent.  No lights or codes or low or leaky fluids.  Runs very smoothly most times.  A friend suggested a problem w/ a sensor which has a gap or blind spot at low speeds.  Thoughts?  

Answer
Its calle Drive Line Torque.
The chasis torques up and the bump you feel is when it settles back to normal position.
Common complaint. Toyota is trying to find a solution.
Not dangerous.

Also prevelent on the Lexus GX series.

Consult your Dealer. They may have a fix by now.

Mike