RepairPal Certified shops can diagnose and repair your 2002 Toyota 4Runner. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.
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A factory unit installed with a new torque converter can run about $3000 plus 5-6 hours of labor, so that is about $3600. An overhauls of your unit is about $3000. I am assuming that you have an auto, but a stick really is just about as expensive.