I've heard this exact line from at least 20 people. It's always possible, but whether there's a business case for them to do so is another story. I don't think it would have been a wise business decision for them to stay the course with the 4.0L/5AT combo, nor to attempt to tweak the aging 4.0L again and get a new transmission behind it. The latter would've at best netted them 1mpg, maybe 1.5mpg if they were incredibly lucky. That would've resulted in them still paying EPA CAFE penalties on the 4Runner, while having a unique engine sold in two countries in the world. Regardless of if they kept the engine, keeping an old unique architecture around forever for it has serious drawbacks, including cost and supply chain complication.
It of course makes supreme production sense for them to put the corporate 2.4L in everything, including the 4Runner. That might lose them 10,000 sales sure, but may gain them 20,000 other sales, for example.
I think it's remarkable the 4.0L/5AT and 5th gen stayed around as long as they have. It's last call time for anybody that wants to go buy a 2024, walk the walk if you want to have the last dinosaur. In the next six weeks, we'll probably know a lot more about the upcoming 4Runner, namely body shape inside and out.
4Runner groups in a year will be going through what Tacoma groups are now with the 2024: splitting into two sides where some current owners brag about how much they hate the new generation and won't buy one, and the other side where they buy the new gen and talk about how much they like it. Seems to happen every time. 2nd gen Tacoma people thought the 3rd gen Tacoma would be the death of the truck. I'm sure plenty of GX460 people hate the GX550 on principle.