Fiachra Purcell
Check the throttle position sensor.
I have seen these go faulty on a Celica causing hesitations and intermittent loss of power. I did not see it in live data but caught it with the scope.
HTH
Fiachra
Message Thread 
Toyota Rav 4 2.0 1AZ-FE 2002 - Hesitation when accelerating (waveforms) # - David Clayson September 7, 2011, 10:30 pm
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on September 8, 2011, 4:02 pm, in reply to "