The 1996-2000 5VZ-FE have IAC valves that are separate parts. The 2002 has a motor assembly fulfilling the same function that is integral with the throttle body and you have to replace the entire throttle body.
There may not be an EGR valve on that engine. I can't find any reference to one.
Sorry for the confusion. Many times a problem can be caused by many parts. Those that don't exist on a particular engine can be easily ruled out.