From 2016 owners manual:

5Interior features
4RUNNER (U)_(OM35B23U)
■Illuminated entry system
 Vehicles without a smart key system
The lights automatically turn on/off according to the engine switch position,
whether the doors are locked/unlocked, and whether the doors are open/
closed.
 Vehicles with a smart key system
The lights automatically turn on/off according to engine switch mode, the
presence of the electronic key, whether the doors are locked/unlocked, and
whether the doors are opened/closed.
■To prevent battery discharge
If the following lights remain on, the lights will go off automatically after 20
minutes:
●Engine switch light
●Front interior light
●Rear interior light
●Personal lights
●Footwell lights
●Inside door handle lights
●Door courtesy lights
■Customization
Setting (e.g. the time elapsed before lights turn off) can be changed.
(Customizable features: P. 485)