Check out this thread.
https://www.toyota-4runner.org/4th-gen-t4rs/270311-turn-key-absolutely-nothing-happens-tranded-waiting-tow-truck.html?highlight=engine+won%27t+start+battery+okay
Start with checking the EFI fuses before you do anything with the EFI relay. My problem was one of the EFI...
Had the same problem on my 04 Limited. I tried to tap out what was left of the stud but it just doesn't have a large enough diameter to make it work.
Ended up ordering OEM motor from Amazon...