There currently is nothing available for the 2010 Toyota 4runner. I have contacted WAAG, Aries, and Westin and so far all I get is "it is in development."
I am sure a bull bar or more generic straight bar could be refabricated to work, but a more profiled one like the ones built for the M-Class will be a while yet.
There may be a few instances that the brush guard did more damage, but you hit a 200lb whitetail or 400lb black bear at 70mph and you don't want something in front to absorb that impact. I guess it depends on where you live.