This is for 2003-2009 4runners.
And usually, if the vehicle is overheating at LOW speeds, it is the fan/fan belt. Once the car gets moving at high speeds, you don't need the fan. The physical force of moving air past the engine and radiator fins supplies cooling. You have a fan on your truck to push air through the radiator when stopped/low speed.
Look at your fan, fan belt and possible fan clutch. This one is pretty simple. If it isn't overheating at highway speeds and ONLY, and I MEAN ONLY, at low/stop speeds it is almost always your fan.
Edit: As for the shop not being able to reproduce. Did you go to a decent place or some crappy one? Any mechanic worth their anything would, given your description, take a look at the fan, belt and fan clutch. As for it not occurring and being random, that could the result of a belt that is almost dead and is slipping. It is managing to work part of the time and happened to work for them or a fan clutch that is sticking, either open or closed.