Not sure where you got your numbers, but they are quite a bit more than the numbers I got from my Toyota brochures.
I'm looking at Edmunds' specs for a 2002 4Runner SR5 vs. a 2009 4Runner SR5:
2002 Toyota 4Runner SR5 Specs @ Edmunds
2009 Toyota 4Runner SR5 Specs @ Edmunds
And, just for kicks, here's the 2010 4Runner:
2010 Toyota 4Runner SR5 Specs @ Edmunds
The 3rd Gen Limited that you owned had standard fender flares (optional on the SR5) that took the width to 70.9 inches (Edmunds' specs for the 2002 Limited matches your numbers.
The 4th Gen, of course, has flares standard across all models. Whether the flares added as much width as the 3rd Gen did, I'm not sure, but I do remember the 3rd Gen's sticking out quite a bit (enough so that I preferred the optional chrome wheel well moldings that were the other choice when you got the optional 3rd Gen 16" wheels).
Taking Edmunds' numbers and comparing them between the 3rd, 4th, and 5th Gens:
Width:
2002 = 66.5 in. (SR5) / 70.9 (with flares)
2009 = 75.2 in.
2010 = 75.8 in.
Height:
2002 = 67.5 in. (SR5) / 68.5 (Limited)
2009 = 69.3 in. / 71.3 (SE with roof rack)
2010 = 71.5 in. (standard roof rack)
Length:
2002 = 183.3 in
2009 = 189.2 in
2010 = 189.9 in
Everyone's definition of "major" or "negligible" change is all relative, I suppose, but -- again -- my original point was that I remember almost as much grumbling when we went from the 3rd Gen to the 4th Gen as we're seeing going from the 4th to 5th.
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