P2002 isn't related to the EGR, it is a fault related with the DPNR catalytic converter - either the pressure is inconsistent between the front and rear, or the temperature isn't rising as expected when the ECU add more fuel during regeneration. The following are the potential areas where the problem may be, in order of most likely to least.
DPNR catalytic converter (Manifold converter sub-assembly)
Differential pressure sensor
Differential pressure sensor vacuum hose is clogged
Blockage in vacuum transmitting pipe sub-assembly
Exhaust gas temperature sensor
Fuel injector
Exhaust fuel addition injector
Turbocharger sub-assembly
Exhaust gas leaks in TOYOTA D-CAT
Mass air flow meter
ECM