Just to clarify, your 4Runner can only have a single set of sensors programmed at a time. If you have summer & winter wheels you need to reprogram the vehicle every time you swap.
However virtually any tire shop will do the reprogramming for free as part of the service, and you can buy tools to do it yourself if you are going to be doing this on a regular basis.
I actually have 2 ways to do it:
the
ATEQ QuickSet tool is around $100-150 and lets you read the sensor IDs from a vehicle and write them back. The tool itself can store 2 sets of IDs and you can reprogram the car easily, or you can use the companion Windows software to store and manage more. Works with any car.
you can also get a bootleg Toyota Techstream tool (~$20 on eBay etc) that will let you plug a laptop into the car to access a variety of settings and options. The disadvantage is that it's a lot slower and fiddly, and only works with Toyotas.
Both of these have the downside that they will not detect new sensors. To find out what ID your current sensors have you either 1) if they are already programmed in the vehicle you can read them back, 2) if you buy new sensors you can write down the ID number before they are installed in a wheel, 3) if you are trying to find out the ID of a sensor that is already installed you will have to take them to a tire shop where they have special wireless readers that will look it up. (those tools are a lot more expensive so probably not worth it to buy yourself.)
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