The computer mpg numbers are fairy tale numbers and are meaningless and very inaccurate -- I ignore those numbers, as should everyone.
I figure my mileage manually, by miles driven and fuel consumed. But actually, I use an app in my Android smartphone called "Fuel Log" -- every fillup, I plug in the new numbers and it figures it. Yes, I can do it about as fast with a calculater, but Fuel Log keeps a record of all the stats for me, which is handy.
I have an 08 V8 4WD Sport. I get over 15 City, and over 17 driving 85 mph and up and down serious grades, on trips. If I drive slower, I can get 19 mpg, but I don't bother unless I'm driving in a state with a ridiculously low highway speed limit, which is not the fact where I live, fortunately. The EPA figures for my truck are 12 City and 17 Hiway, so I'm beating that, which is really all I could ask for. I seldom ever do jack rabbit starts, but I definitely keep up with the traffic -- actually, I drive faster than most folks, but I ease up to those speeds to stretch the gas.
City driving conditions vary tremendously. So whereas I am able to consistently get over 15 mpg city with the V8 runner, under city conditions with more frequent stop and go than I experience, one may not be able to realize that high a number.
I used to have an 09 V6 4WD SR5, and it only got about 1 to 1.5 mpg more than my V8 gets, a trade-off I was willing to make for the added towing ability that I needed.
Those who claim 20 or 25 mpg -- frankly, no offense, but I don't believe it. I have had two 4th Gens now and I will say 20 or slightly more is possible, but takes ideal driving conditions and driving to try to push those numbers. Much over that -- sorry, but I see it as fairy tale land.
Edit: I'm not trying to stir it up with you folks who claim high mpg -- good on you. My purpose in this post is that I don't want lurkers or new forum members to invest in a used 4Runner, with the expectation of 20-25 mpg. I don't think that expectation is realistic. And disappointment would be the result, as the new owner finds his day to day operating costs are much higher than planned for.