Yes options exist, but nothing like what the 5th gen trucks have.
You can get OEM styled LED taillights that are a drop in, they came on the 06-09 models. Past that we have a variety of sketchy chinese knockoff options that may or may not work, and may or may not be bright enough for safe use at all times. Unfortunately the 5th gen gets significantly more options in that department.
For the headlights, the 06-09 trucks had factory projector headlights that you can easily make work on an 03-05 4runner. That also means that any aftermarket 4th gen headlight can be made to work one way or another, and some of those have led strips, dots, or halos to change up the look.
There are some companies selling retrofit headlights, but offhand I don't know any I'd trust. Bxbuilt used to be great but has now closed up shop. TEQ Customs is an absolute garbage company who does horrible work and blames the customer for the problems, so I would stay far away from them.
If you go aftermarket headlights, most people find that adding an extra layer of silicone around the lens/housing seam helps avoid the headlights fogging up on you. Drop in a better set of bulbs and this is the option a lot of people end up going with.
Whichever headlights you end up going with, this thread offers a bunch of recommendations on what bulbs to use for the best visibility and safety in a projector housing.
3rd Gen HID vs LED vs Halogen H11 projector headlights | Tacoma World