On 4th gen, after an alignment front end work, etc... Really should be plugged into a scanner (dealer, buddy with a snap on, etc) and have some things reset.
Story time...
Couple of years ago, I did 3" front and 2" back on all my stock xreas, 285/65/18s on some offset xd wheels. Went and got an alignment, still pulled and drove weird. When decelerating, it would sometimes just jerk around. Went and got another alignment... Same thing. Just learned to deal with it for 75k miles.
I have a snap on solus pro... Never had the need to plug it into the 4runner... Never had a check engine light or anything. Just did front brake calipers, due to the typical pistons freezing up on the 4 piston rotors, and I was too lazy to bleed the brakes manually so I used the scanner to bleed them. While going through settings I saw that there are multiple sensors affecting ride quality after an alignment.
Went through a "zero point calibration" procedure.. Reset "steering angle, decel sensor, yaw rate" along with the "wheel alignment" procedure which honestly I think did the same thing as the zero point calibration.
The next day, my 145k 06 limited v8 that I've proudly owned since day one, drove better than it did at 70k... Hit the highway, no pull.
Little food for thought