#3 is the cylinder second from the rear of the motor from the transmission.
SOURCE: 2008 rav-4 toyota brake pedal
If you own a Toyota with (BA) Brake Assist, it may be out of adjustment. It is adjustable on the 2010 Highlander and I would guess that it might be adjustable on your Toyota vehicle as well. (Assuming this is actually your problem, you have had it checked out by your service department and they said there is nothing wrong or that it was normal.) If the brake assist is out of adjustment it may be coming on too soon or when minimal brake pressure is applied. This causes a long brake pedal (brake fade or the pedal travels longer than normal before resistance is felt) and/or jerky brakes. As far as the Hill Climb Assist or DSC, this feature is activated when the brakes are applied after the vehicle has come to a stop and then you continue to press harder on the brakes for a couple more seconds. It also comes on if you drive with two feet. If you have your foot on the brake and you press slightly on the accelerator (when the vehicle is completely stopped), the DSC will come on and you will hear the chirp.
I will assume it is a 6 cylinder. The book time on a 6 cylinder is 17.8 hours for AWD and 16.5 hours for FWD. When the labor time is so long that means the intake manifold has to come off. Depending on how much you know about cars it might be a good idea to buy a manual to tackle this job.
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