I just visited my local dealer with our '04LE (2.4l) for something very similar. Right at 46-48mph, I get a slight surging that felt like it was coming through the driveline.
The dealer tech diagnosed it, and supposedly they got on the phone with Toyota who confirmed the diagnosis as a "lean-surge". They said it was "common" and "normal",

and recommended $150 worth of top-engine cleaning. Right at 1600rpm, the fuel mixture is getting lean, and the O2s call for it to be richened, and that goes back and forth - that's how it was explained to me. I protested that that shouldn't be "normal" and that Toyota needs to address that and make it so that "normal" is a smooth-running engine at all rpms....my protesting didn't do much.
Wade