I think [MENTION=9351]SkidPalace[/MENTION] and [MENTION=66316]1engineer[/MENTION] are talking about two different features here?
Greg, our TEs don't have that "auto" feature on the lighting switch stalk; what you are describing is the car turning off the headlights for you in case you accidentally (or purposely) left it on after shutting down and exiting the car. The only way to turn it back on is if you turn the car on again, or if you turn the light switch completely off and back on. I believe this auto off only works if you have the headlights on while the car is running, and then turn off the car and open the driver's door.
Mr. SkidPalace, I think you are talking about the auto headlights feature that turns your lights on and off based on the available ambient light? I am not sure which 4runners have this option, maybe the LE? The turning off after 30 seconds works the same as above, but the turning back on all depends on if you're in the dark or not, at least that how I remember my old car working.
If I recall correctly, the only light that shuts off immediately upon opening the door (after shutting off the engine) is if you left the switch at the parking lights on level. This turns back on the same way though, you have to either turn the car on again, or turn off the switch completely off and back on.