For those of you who are looking for an AGM, remember that most need an absorption voltage of 13.8 to 14.8. The 4Runner system will not provide that much voltage. I'm not sure if the newer 5th gens are rated for this, but I know my 2012 is not.
Your AGM battery will work fine for the short term but after a couple years it will not be conditioned properly and you may lose some time on the back end of its life. They're way too expensive to give up any time on them. I'm not sure if they're warranty would stipulate if you have the proper charging system or not, but I didn't want to be on a long trip and have an issue. Walmart/Sams would probably replace it anyway, regardless of what charging system you have.
Putting an alternator voltage booster in the 4Runner or making sure you have an AGM rated home charger, or both, to keep it healthy is something to consider.
I bought an X2 AGM years ago and started to notice it wasn't always at a decent charge after sitting over night. After checking the spec sheet on the battery, I noticed it called for that higher charge rate for absorption.
After doing some research I went with a new AGM rated charger and topped it off every couple weeks. My batteries sit for weeks at a time while I'm working on the road which is not a healthy condition.
After a few months, I installed this AVB from
Dirty Parts to make sure on long trips the battery is staying healthy. There is another AVB out there by
Arclightleds, but it's $30 more.