Generally camber will be slightly negative for better handling (top of tire "leans in" towards the car. But I've had camber at positive .3 before and it drove great.
Yes, caster is great around positive 4 if you have aftermarket UCAs and can make that work. It can be difficult to accomplish that with stock UCAs, anything above 3 will be good.
And that just leaves the toe to straighten it up and account for the caster/ camber adjustments. It's generally slightly positive but there's a lot of factors that can change that. Closer to 0 is generally better.
I just realized how much I used "generally". There's so much that changes this in between each vehicle (even between identical 4Runners) that it's hard to set a definitive baseline. A more competent shop than the one you were using should be able to handle this fine.