According to the manual, should not be possible to put the reverse or park accidentally while driving.
In my past SUV was impossible to move in the Reverse while driving.
Someone tried to check this security?
another question: the seats of the 4runner are really hard and narrow compared to others SUV, is this a choise of Toyota? or maibe Asian people have different taste of confort

and small butt....
thanks and have a nice day.