2001 Toyota RAV4 - Bucks

Cars bucks when excelerating. And intermittently while driving

Is your check engine light on? if so, you can get it scanned at most auto parts stores for free and post the codes here for better answers.

Toyota Rav4 Jerks When Accelerating: Causes + How to Fix | Drivetrain Resource (700r4transmissionhq.com)

That sounds like a misfire problem. Too many possible culprits to list. Good advice above by WW, start by obtaining all the diagnostic codes stored in computer memory. Post the list here if you like, you’ll get some ideas about what the exact problem is I expect.

An experienced shop-tech with a pro-level scan tool could probably narrow this down more quickly by monitoring the engine parameters on a test drive during which the symptom is occurring.