Well, it may not have good tension on the belt causing it to slip. If this is the case, the belt and tensioner should be replaced. It is not uncommon for these tyoe of problems to be more noticeable when things are colder.
Just take a look at the belt. Look for glazing on the flat side, and cracking on the ribbed side. Also press down on the belt and see how far down you can push it in. I know the 4.7 Tundras had a TSB to replace the belt, tensioner, and A/c braket for belt squeal......not sure if it applies to the 4runner though. I can find out for you if you'd like.