Car drives fine but when i slow down to a stop it begins to stall and lurch forward. the brakes also lock up and the steering sometimes to if i accelerate fast enough i begins to drive fine but if i slow down to a stop it stalls and turns off

Transmission problems. Have the codes read. Most problems with this is internal transmission. Consider the cost and the vehicle.

Hi.
This may be a "sticky injector"

This would cause overfuelling - and a sudden rise in RPM. The ECU will see this and compensate - by shutting the injectors down lower - , which then stalls the vehicle.

Worth a try runnig cleaner through them.

try disconnecting the hose to the brake booster and plugging it, the take it for a drive, ( you won't have power brakes so do this in a empty area)

ignition modules can cause problems like this also airflow meters and faulty fuel pumps

Sounds like the torque converter isn't unlocking quick enough. Drive at 45mph,keep foot on gas and use other foot to touch the brake and watch the tach to see if it speeds up,when converter releases. Check trans fluid level hot.If it is more than a couple years old,change. Use the correct fluid for Toyota and add a bottle of Lubgard. Have the throttle positon senor scanned and check any idle control circuits. Throttle Body may need cleaning.

the engine tickover is too slow when the engine is cold its running on cold start, ie:choke,, after it warms up the engine slows down this is what is causing it to stall in gear,, get some one to hold the brakes hard on and with the engine running in gear ajust the tick over till its reving at 750 - 850 rpm the revs will go up a bit when its out of gear,, before you pick a gear to go into push the foot brake down to stop the car lurching,,,

What you have is a lock up solenoid failure,. The trans has a solenoid that locks up the trans torque converter when you reach certain speeds and unlocks it when you slow down or touch the brake. If that solenoid fails it will leave the torque converter locked up so it acts just like a standard trans when you con't put in the clutch.

It can be replaced and you can try to release it. Put in a jar of "Lube Guard" the red one for GM's and then let it run for a while. Then just as you put it into gear give it gas, it will lurch and if you are backing up to get it out it will stall when you come to a stop, but then put it in drive and do the same thing. Drive it around for a while and if it does not change then you will have to have the Loc-up solenoid replaced. Not a real easy job, but it can be done with out removing the trans

Hope this helps.

Assuming that the vehicle is equipped with an automatic transmission, it looks like the torque converter lock-up system doesn't release as fast as it should, so if you brake hard, the converter is still locked up and your wheel brakes stall your engine (just like pressing ******* the brakes with the clutch pedal released on a manual transmission vehicle). Normally, when you brake hard, the lock-up should release and prevent the stall from happening. Might be a bad torque converter, or a bad lock up solenoid in the transmission... Before jumping to anything else, i'd try checking the fluid level in the transmission and an oil/filter change in the transmission. Lots of times one or the other can cure the problem.

i think your exhaust might have a leak which is heating up your oil when this happens the engine suffocates and wants to die.

I had somewhat the same problem on my 03 chev venture van. It was the tranny slipping or rather not engaging. When you try to pull away from a stopped position the vehicle start to accelerate momentarily then hesitate then **** forward with a loud thunk. Turned out to be a solenoid or sensor in the tranny. The dealership at first refused to do anything saying it was normal and to allow more time after putting it in gear. After I proved to them that it was not normal ( by taking them on a test drive in my vehicle then in one of thiers) they agreed to fix it. Worked great for 20-30000K then came back. Now have 260,000k so it is more nuisance than a problem at least at this point.
Check your fluids and possibly look into using a transmission additive designed to stop slippage