Sorry to re-resurrect a thread but ever since I bought my car and even more so when I put my 20" wheels on with much wider 285 tires I have noticed that my 05 4Runner would pull with any deformities in the road. Today i decided to put it in 4WD to get my monthly 4WD time in (don't do much wheeling anymore with the 20s). I noticed a huge improvement in stability. No longer does the car not pull side to side (I've noticed that with all 4th Gen 4runners and newer tacomas) but it drives straight as an arrow in strong wind and on any surface of road. To me its not the "I dont feel comfortable driving In 2wd because i dont trust myself" but I feel like the driving experience is improved greatly by not constantly fighting to keep my car from going straight.
To add to it, my traction control stops me all the time, not once has it interfered with me in 4wd.