You are right that the Torsen differential is not a clutch type, rather it is all gears -- really weird gears!
Torsen - Wikipedia
Most cars that use them, most notably Audi, have them built into the transmission and they are lubricated by the lighter weight transmission fluid, not the heavier gear oil common in 4X4 transfer cases. I have a VW Passat 4Motion (AWD) with a Torsen differential in it. Thus, you should look in your owners manual for the lubrication recommendations for the 4Runner with the Torsen differential.
The owners manual for my 2018 4Runner makes no differentiation on oil requirements for the SR5, Limited, or TRD Off Road -- they all take the same oil.