Debadging for anything is the same, so if you find a write up or something for a 4th gen, that will work exactly the same. Your 4runner will just be older and more work to clean up.
Most people will use a blow dryer or heat gun and some dental floss. That worked fine for me. However, with your 4runner being 11 years old, your going to have a time getting the outline off the hatch. When you get the badges off, you will have to scrub with goo gone and a polishing compund to remove all the left over adhesive and dirt build up around where the edge of the emblem was.