I've looked into changing to a DOT 5 fluid, but its not advised according to Toyota and most people I talk to. The problem is that when switching to a DOT 5 you need to flush everything, run denatured alcohol through the system, and replace the "contaminated" seals; the synthetic stuff doesn't play well with the old stuff.
The other issue that comes into play is that DOT 5 is not designed for use in ABS systems as its fluid characteristics are different than DOT 3/4 (I can't remember it if was viscosity or what not.) Combined with the lack of a rebuild kit for the seals and gaskets in our ABS/VSC systems, DOT 5 is just not possible in a stock 4Runner.
I've thought about going with a DOT 5.1, which is supposed to be a non-synthetic version of DOT5 with similar boiling point and characteristics, but be safe in DOT 3/4 systems. So far I don't have enough information on DOT 5.1 to justify the cost of switching over and if that provides any benefit; I also believe 5.1 is hygroscopic as well.
http://www.toyota-4runner.org/4th-gen-t4rs/139051-dot4-vs-dot5-1-brake-fluid.html
Never use silicone DOT 5 fluid in a system not designed for it. It's actually a really old standard, and I can't think of any modern cars that use it.
DOT 5.1 is basically higher performing DOT 4. If you wanted to go to a fluid like that, some good ones are MOTUL RBF600/RBF660, Wilwood EXP600 etc. (average price is around $12-17/liter, depending on boiling point). Endless fluid is supposedly great because of its low compressibility (I've heard most Formula1 teams have switched over to it), but at the ~$80+/liter last time I checked, I don't think I'll ever experience it.
That said, it's completely unnecessary on a 4Runner. These fluids have a high boiling point, but the problem with old fluid is the water in it, and these don't prevent that.
These are more fluids that you use on a car you're taking to the racetrack and REALLY hammering on your brakes. Typical street pads (i.e. anything you'd find on a 4Runner), will give up the ghost and puke pad material all over the rotor (what people call warped rotors) well before even ho-hum DOT3 fluid starts boiling.
But I will say, never use Prestone fluid. I had to use it in a pinch and I boiled it on the 3rd lap in my 240SX. DOT4 my arse... Put in some Ate TYP200 which barely has higher rated boiling points and could do 20+ laps at a time with no issues.