There is a Technical Bulletin for your RAV4, T-SB-0107-19 titled "Hesitation On Acceleration from a Slow or Rolling Stop" . You can go to Toyota and ask them to reprogram the car for free.
You can read more about it and other issues relating to your model on Car Complaint. Good luck...
Buy complete loaded strut assembly. Safer. easy, and all new parts. Go to Parts Geek. $94.58. 02 2002 Toyota Tacoma Strut Assembly - Suspension - API, FCS Automotive, Gabriel, KYB, Monroe, Moog, OSC Automotive, Old Man Emu, Rancho, SenSen, Unity, Front, Front Left, Front Right, Front and Rear...
I live in Southern Ca, and a truck with that kind of miles and in good shape will go for about 6-8k.
Here is an add for 1995 with 192,000 miles going for 8k.