I needed phillips #2, used from the back, to adjust heigth (new replacement assembly)
I needed to adjust the vertical screw of a newly-installed aftermarket headlight assembly for a lower focal point (image against the garage), and it a lot of turns before the focal point began to move downwards at all. Don't be surprised by that lack of "instant responsiveness", just keep twisting the fitting with more turns.
I did notice the screwdriver "access slots" leading into the circular adjustment housings, but I was unable to make either a phillips head or smaller flathead actually rotate the slots in those housings. If I had applied much stronger pressure into slots, it might have worked: But I was afrain of damaging the slots or even the entire mount, by pushing too hard.
I abandoned that approach, instead using a phillips #2 bit from the rear (into the center of the circular adjustment housing).
On the driver's side, between the installed battery and the lower 'height adjuster screw A", there is not a lot of room for a normal screwdriver to fit. (Not even a "stubby".) But I did have enough room for thin 1/4" socket wrench, loaded with both a 1/4" hex socket adapter and a standard #2 phillips head.
A 90-degree angled screwdriver (combination or phillips only) would also do a good job), but I couldn't find one one in my garage. (They're cheap, see image.)
I did not need to adjust side-to-side, but the same tool would allow you to do that very easily.
My 4runner is the 07' 'sport' model. My driver's side assembly original was allowing some water intrusion and the lens had gone "dull" beyond the point of being repairable (using 'paint-on' smoothing products and the high-grit sandpaper they include).
My 2024-purchased cheap amazon-sold replacement includes both adjustment screws. Here:
Amazon.com/dp/B0BKGH7SMC I don't know if other aftermarket assemblies for gen-4 "limited" or "sr5" models might leaving out the horizontal adjustment.