I found this on Toyota's site:

http://www.toyotaownersonline.com/news/articles.php?id=10

Service Campaign Set for Some '01-'04 Truck and SUV Models
Publication Date: 05/31/2005
On certain 2001 2002 Model Year 4Runner, 2001 2004 Model Year Tacoma 4WD and PreRunner, and 2002 2004 Model Year Sequoia and Tundra vehicles, there is a possibility that the Front Suspension Lower Ball Joint may experience excessive wear and looseness causing increased steering effort, reduced vehicle self-centering, and noise in the front suspension. If the vehicle is continued to be operated in this condition, in extreme cases, the lower ball joint may separate from the knuckle causing a loss of vehicle steering control.

This new Special Service Campaign (SSC) will be launched in late June, 2005. Owners of the involved vehicles will receive a SSC notification by first class mail beginning in late June, 2005. The owner notification will be completed around December, 2005. Toyota dealers will replace the left and right Front Suspension Lower Ball Joint at NO CHARGE to the vehicle owners.