I think this is a great way to get a little additional light off road with very little cost.
OP, you've got the right idea: Just hijack the DRLs and feed 'em with 12V through a relay triggered by the high beam feed.
As you mentioned, however, this defeats the DRLs, and I kinda like my DRLs. So I came up with the following design using a 3PDT (three-pole, double-throw) relay which gets you high beams from your DRL bulbs and retains your stock DRL function.
When this circuit is "at rest" DRLs function completely normally. When you hit your high beams, the bulbs are taken out of series (which runs the bulbs at 6V) and put into a parallel circuit (which runs the bulbs at 12V each) and you get high beam intensity from the bulbs.
I've wired up my DRL bulbs in this manner and it works flawlessly. (There is a tiny bit of switching delay as the relay toggles and the halogens warm up.) Also note that halogen bulbs do not put out the bright white of LEDs, so your down road light looks...well, a little funky. One thing not shown in the drawing: Put a switch between the high beam trigger and terminal 'A' so you can disable this mod as necessary.
No claims this is the only way, or even an elegant way, to do this, but it is functional, cheap, and it doesn't damage (too much) your factory wiring (you do have to tap into your factory headlight harness to get a high beam trigger--use a Posi-Tap!).
I do not know on which model years this mod will work--I only know for sure it works on '22s. The basic design should work on any 4Runner with halogen DRL bulbs in the old, pre-LED-high-beam, high beam location. (Is that only 2022s...2021 Pros...?!) Also note it only works with halogen bulbs in the DRL position--LED drop-in "bulbs" do not like to run on 6V (though I've seen some postings identifying LED bulbs that do).
(Disclaimers: This mod is not encouraged; not guaranteed to work on your vehicle; for off-road use only; YMMV; not valid in California; no deposit, no refund; modify your vehicle at your own risk and peril; buy a multimeter, learn to use it, make peace with electricity. :madgrin