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The speed sensor of a 2002 Toyota 4Runner can be found on the driver's side of the transmission's tail shaft. To remove it, you'll need a 12-millimeter socket and ratchet. Once you locate the sensor, disconnect the electrical connector by pulling out the tab on the side and removing the plug. Then, use the socket to turn the bolt counterclockwise to take it out. You might need to wiggle the sensor a bit while pulling on it to remove it. When installing the new sensor, consider applying some silicone grease to the O-ring to help it slide into place smoothly. Place the new sensor in and hand-tighten the bolt before snugly tightening it with the socket, being careful not to overdo it. It's a good idea to apply a bit of dielectric grease to the connector before plugging it back in.
The speed sensor on a 2002 Toyota 4Runner can be located to the right of the engine coolant temperature.