A few weeks ago I traded a 2020 TRD ORP W/KDSS for a 2024 W/KDSS
pretty much the same exact vehicle so I thought. The 2024 does have more cameras so I can see 360 degrees around vehicle even though the resolution is not all that great it's still nice to see out front and beside vehicle as well as behind. This 4R has much brighter LED Hi and Lo beam as well as LED fog lights.
The center 8" screen is the same size but has an upgraded graphics that is easier to see.I also noticed a "software upgrade" in the vehicle settings menu.
Also, no more front left side noise from needle bearing that goes away when 4WD is engaged. Also this 4R seems like it's built better than the 2020, bunch of little things I noticed like doors close more solid, rear hatch opens and closes nicer with less effort, stereo sounds better with audio settings set the same, seats seem more comfortable and the power movement seems more precise and smoother, the Off Road running boards offer more ground clearance and have drain holes for water. The radar cruise control was recalibrated and actually works better and is now more useable as is the Auto Hi/Lo Beam function. One of my favorite things is the heated steering wheel that the 2020 didn't have.
The brakes are definitely better as well. The KDSS system on this 4R seems like it's a little stiffer and offers less body roll around turns.
My other 4R only had 26K mi when traded so shouldn't be all that much different in wear and tear department. Paint job on this 4R is definitely better, other 4R had some orange peel in places.I also noticed gas filler neck where nozzle goes is a little different. Engine seems the same, sounds exactly the same but the transmission shifts a little nicer than the 2020 for some reason, nothing wrong with the 2020 tranny but this one seems better. Lights and screen between speedo and tach are a little different but I can't quite put my finger on exactly what without having my 2020 again to compare. My transmission shifter is no longer loose like the 2020, had it fixed twice and still moved around but this one is nice and tight. Overall I'm glad I upgraded to the 2024.

I've rented two newer 4Runner's in the past year, and the thing I notice most is the better braking. I'm used to mashing down the pedal to stop, which almost sent me through the windshield in the rentals haha.
The LED headlights are definitely better, and blind spot monitors are really nice.

Now, 2025 4Runner, or Land Cruiser

Yes, the Blind Spot warned me a couple of times already, mostly when backing out of a parking spot with large SUV beside me.