Any 96-02 4runner wheel/bag will PNP(plug n play). No modification needed.
You can also used Tacoma wheel/bag 1st gen. Not sure of tacomas started having airbags, but the years are 96-04
You also can used Camry/ES300 wheel/bag combos from 96-01.
All 3 combos are PNP & cannot be mixed/matched.
Here's my 01 Lexus ES300 in my 98 Limited.