Can adjusting the tps harm anything?anyone know the best way to check the f.p.r.

I would recommend you retrieve any/ all diagnostic faults from Engine computer. In order to properly resolve your driveabitly concern & "check Engine lamp" concern. Rather than just shooting in the dark and possibly causing more harm than good. In the event your tool arsenal is limited. I would advise you to take your vehicle to a qualified top shop in your area or an ASE Certified repair facility. Best of wishes on resolving your Toyota p/up concerns.