I may have asked about this before, but can't find the thread. I'm having trouble with this happening and it's more pronounced when there are several people in the vehicle, or just me, but lots of weight in the back. I'm thinking it's probably the rear control arm bushings. Can anyone give me some insight here?

Probably ALL the control arm bushings. I noticed a VAST improvement with each item I swapped out, down to and including the panhard (which solved the last of my side to side sway)

I agree with the other member. It's either the bushings or loose control arm bracket bolts unless your brackets are extremely rusted and moving. As when mine was doing it I had 2 loose control arm bolts...

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This one?

Wobbling issue in my 2000

Could it also be a worn out U joints?

I replaced all suspension bushings in my 4R with OEM parts, and now, it rides as good as my brand new Taco.

Yeah. Thanks. I don't know how to find those older posts apparently.

Concur on the suspension bushings, with an emphasis on the panhard rod. A couple of years ago while returning from our Colorado/Utah trip, with lots of wheeling involved, my 4Runner had a new trick - a slow side to side wobble at higher speed son the highway. Usually initiated by a road heave or bump. Nice and slow, and not increasing in intensity, but certainly unnerving. I had to double and triple check to make sure I wasn't subconsciously doing it via steering wheel input (I was countersteering to try and stop it). But no, it was all the truck's doing. At the next gas stop I wiggled the truck vigorously side to side, trying to spot a loose bushing, didn't see anything. Kept driving it home, and learned to do a sort of long curve (in the lane) to 'reset' it when it got started.

A week or two later after going through the rear end (HD lower control arms with poly bushings, newer upper OEM arms, SS adjustable panhard rod with poly bushings) I discovered that there was a slight bit of wear on the panhard rod bushings, maybe enough for about 1/4 inch of movement when pushed hard? So little it looked like normal bushing deflection to me. I replaced them and... wiggle/wobble/oscillations were all gone.

Where is the panhard rod located? I am not great at doing much of my own mechanical work and my mechanic has it right now so I can give him a call to check that as well as the rear control arm as that sounds like my exact problem.

From the back side of the rear axle to the frame. It is parallel with the axle housing.

It's your rear control arm bushings. Not a common issue on these trucks so not super well known like the steering rack bushings but that is your issue

had this happen to me on my 98 sometime in december, was shaking horribly between 50-70mph, turned out to be tires thankfully, i was dreading the control arms. might want to look into that if possible, you might get lucky.