I had same problem. Here is what I did.
Replaced O2 sensors all 4 of them. Did not work.
spent $1600 replacing two cat converters. Worked.
My cat converters die at around 130,000 (check engine light popped). Cat held until around 180,000.
Cat converter lifespan is around 120,000 ~ 190,000 miles under normal maintenance. (change O2 sensors at 50,000 miles interval will prolong Cat converter lifespan)
My 04 4runner SR5 has 250,000 miles on its clock. No major problems except wear and tear parts replacement.