It's my understanding that 5th Gen 4 Runners have this in their differentials:
http://www.amazon.com/Toyota-Genuine-Fluid-08885-02506-Differential/dp/B004SL9HP6
Pretty pricey. I wouldn't waste my $$$ replacing that with Amsoil or any other product until it was time to do it.
Transmissions come with proprietary Toyota WS ATF. I wouldn't change that either. Engine oil is 0W-20 and the only way I've seen that packaged is in a synthetic format.
You do not need to change anything.
Agreed. There has been a few people that have drained and filled the diffs, txfer case with Amsoil and saw no difference in gas mileage. My understanding is that they are filled with SAE 90W. That only comes in synthetic, same with 0w20 engine oil.