If you or somebody you know has an ODB reader I'd check that out first and see if you're throwing any codes. I have a lightly modified 4x4 V6 and I'm consistently getting 18-21mpg so you're 4 cylinder shouldn't be as bad off as it is. Here's the new purchase tune up I did:
New bosch p4 plugs
New plug wires
oil change
trans fluid change
clean out throttle body and adjust throttle cable
Front and rear differential fluids
Sea Foam the intake (do this first as I've heard it can foul plugs)
Cleaned off the intake filter (replace if you have a factory intake)
Fuel injector cleaner is recommended at every oil change
Replaced all the accessory belts (not necessarily going to help mpg but not a bad idea)
Rotate tires if it hasn't been done recently
Here's a few resources on how to do it:
How to: Change Drive Belts 3.4 L 5VZ-FE - YotaTech Forums
4Runners.org - Maintain it. Mod it.
__________________
1997 4runner V6 automatic 4wd
Proudly performing half-assed modifications on my cars and slinging insurance since 2003
https://www.farmersagent.com/ajones2