sounds like you could use some more caster in your alignment. The strange thing about the 4runner is that the "factory spec" that is available to alignment technicians is +2.5 degrees. This is too low for this vehicle, and will cause it to wander all over the place. Many places will try to aim for the factory specs so that the out-of spec fields on their alignment printout will turn from red to green. They won't just aim for higher caster unless you specifically ask.

Most of us aim for 3.5 to 4 degrees of caster. This keeps it from feeling twitchy on the highway (requiring lots of inputs and corrections)

If you can't get a good alignment because of a lift, aftermarket upper control arms have additional caster built in to their geometry. This will make it easier to get the caster that we all like. If you're not lifted (or even if you are), and excellent technician will be able to get satisfactory results with the OEM UCAs.

The difference is night and day. Whenever I've driven a 4runner that isn't mine, it's back to that same old twitchy feeling.