I would say you need to take inventory of what it is you really want here. If you like the 4Runner keep it for a bit longer then make the switch. They do hold value well and keeping it isn't a massive loss imo. You currently own a decent vehicle wait and see if a better diesel comes a long that makes you gotta to have it. Wouldn't switch if I wasn't excited about the vehicle I'm switching to.
If the numbers make sense to you and it doesn't hurt anything switch whenever you want. I can't honestly say I would ever convince someone to keep a vehicle unless it affected me in some way. Truth is I think you already know what your gonna do. Why else would you post here.
Wife and I drive a lot and we agreed that we may as well enjoy the ride. I like the interior. It's modern enough for me and while I miss my old automatic climate controls I also enjoy the big knobs of the 5th gen. Let's me mess with it and know exactly what setting I'm at without looking. While there are certainly more modern interiors I have yet to find someone who gets in and think it dated.