When I bought my Runner for the dealership about a year ago I noticed the same thing. Also it had a slight pull to the driver side. After poking around the truck I noticed that one tire was a 265 70r16 (front driver side) and the rest were 265 75r16's. So this one tire was throwing off the front end and not letting it engage to awd. I eventually did get it into awd by driving through their parking lot really slow and once it engaged it REALLY pulled to the driver side. Which makes sense. Also it was a B**CH to get it out of awd, a lot of putting it in drive then reverse and back again.
I ended buying the truck and having them buy me a new tire at the right size, I also had them sign the paper that said they would fix it if the tire didn't work to get it driving straight and engaging into awd properly.
The tire did end up working, and after I changed the gear oil I can engage awd or 4wd in about 5 seconds after pushing the buttons.....smooth as eggs...
Something to look at on this one, maybe its the same issue.....maybe not. But if you do go with this truck just cover you A$$. Remember its a dealership and they don't give a d*mn about you or your troubles as soon as you drive off the lot.