2004 Toyota Tacoma engine problems

Was in parking lot of store. Started engine and put in gear and vehicle shot forward and it seemed as if I had no control of it sideswiping another vehicle and headed for another vehicle that I was about to broadside when I was able to stop my vehicle. Was able to get vehicle home which was a short distance away but am now terrified to drive it. Notified insurance company. I called dealership where vehicle was purchased but unable to speak to anyone. Left message but no one has returned my call.

While driving the vehicle loses pedal response due to the throttle control motor shutting down and the check engine light coming on. The engine either shuts down completely or the becomes very jerky and cannot sustain an idle. Incidents began to occur around 95,000 miles odo but stopped for several years after a mechanic worked on the vehicle and said the throttle position sensor was out of alignment.