The only frame difference besides the obvious 4wd and 2wd crossmembers.. is the front bumper. The 99 to 2002 front bumper is fat lipped because of the crush zones that were added in. I can take a photo of a 2002 fat lip bumper in the morning. 1996 thru 1998 are just small plates with a bolt on plate at the end of the frame. The bumpers are majorly different.
3rd Gen Toyota 4-Runner 1996-2002 - autorust.com
They sadly don't have that frame bracket listed. :-(
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8 3rd gens listed in the build thread (2 are parts mobiles)
Previous Rigs: 90, 91 Camry 82,83, 87 Hilux Pickup
Build Thread:
https://www.toyota-4runner.org/3rd-g...os-builds.html
Brillo's Bucket Fluid Ex changer:
https://www.toyota-4runner.org/3rd-g...ml#post3358086
Sparks Plugs Wire and Coil Information:
https://www.toyota-4runner.org/3rd-g...on-5vz-fe.html