If you can watch youtube and afford a $50 set of gauges from harbor freight, you can recharge your AC. I noticed the 4runner was running warm in AC so heres what I did. Went to autozone and rented a vacuum pump. Purged the system and pulled a vacuum for an hour. Let it sit for 20 minutes to see if it would hold the vacuum. If there is a real leak the vacuum will fade to zero. If it only drops a point or two, I begin recharging with Arctic Freeze which adds oil and 134a and system safe sealer. At this point, if there is a small leak, the whole system is going to need to be replaced. The condenser is oxidized and the seals hardening. The point here is on a 16 year old vehicle you dont want to start chasing small leaks when the whole system is in need of repair.
Arctic freeze will stop the small leaks and relube the compressor. Find out how much 134a is needed and add that much. If your pressures are correct when filled, call it a day. If the pressures are out of spec, then start replacing parts. Its not as scary as some would lead you to believe. I rebuilt the system on my kids rav4. It took a few days to R&R the evap and lines but in the end is a new system for way less than a service shop would charge. Youtube is incredibly helpful.