Not a similar situation, but I have a 2015 SR5 with almost 95k on the stock suspension. The best bet for what you are asking for is to get a set of Bilstein 5100's and leave them at the "0" height setting. You could even set the front clip to the 1st notch and get .85" of lift...if you wanted to level it a little bit but not "lift it" to the point of not fitting in the garage. It should provide what you are looking for...or at least the closest the 4runner can get. If it works for you then you just got a "new" vehicle for $450. If not, then you are only out $450 and you can honestly say you tried. Only problem is they seem to be hard to acquire at this time.

FJ4RBILK10 Bilstein Height adjustable front and matching 5100 Rear shocks (10+ 4Runner & FJ Cruiser)

For a little more $ you could also go with Dobinsons for their struts, and either keep the springs you have or go to their 0" height springs, which just are a little stiffer then stock. That would also stiffen it up a little.

Front Strut GS59-700
Rear Shock GS59-705 (Since you don't have extra rear-end weight)
Front Springs C59-238 (will raise front 1", which is the same as TRD Pro and shouldn't affect getting into a garage)
Rear Springs C59-233 (Stock Height)

Dobinsons 5th Gen T4R Suspension options - lots of choices