When it happens is it skipping or missing? It really can be caused by so many things, not kicking a code means it's not far enough outside of parameters for a code to set.
If you had a ODB II Bluetooth connector you can download free apps for smartphones or use Windows software and watch the signals coming from all the sensors. I bought this one last spring
https://www.amazon.com/dp/B006NZTZLQ Six weeks later they came out with a newer version-->
https://www.amazon.com/dp/B07JFRFJG6 and were selling it as a new release promotion price a little less then what I paid for the then outdated version... This is the Win software I use on a notebook
OBDwiz Automotive Diagnostic Software it came free with the Bluetooth connector. Problem with these, you need to learn the software and you'll need the factory repair manual so you can learn what each of the signals should be, a LOT of time invested to chase down a problem, you'll have to be determined and dedicated to invest time and money just to access the data going to the ECM, but once you have it, know how to use it and what to look for it THEN can save you time chasing down a problem. And that software, there is no manual, user guide or anything worthwhile under Help within the software, there is a forum where you can post questions...

You just have to keep playing with it until you figure it out, it does do a lot and it is very useful, but learning it you are on your own.
If you end up taking it to a shop, going to a Toyota dealer and asking for their best tech would probably save you money in the long run. I loved working in dealerships because I got to know that product, after some time I'd get a work order, read the customer complaint and many times know what the problem was before I even got to the car because we would see the same issues over and over. Working on many different brands in a general repair shop, you don't get that same amount of repetitive.