I can tell a lot, but I can't tell everything. And a lot of the methods of identification are frequently changed by the owners.
You can tell a 2wd from a 4wd by the ride height, 2wd sit lower. Base models have black mirrors and door handles, and those are more often than not 2wd. If it is a base model you know it's 2000 and older.
Fat lip bumpers are a 1999 and later thing. Body painted bumpers or non-chrome ones are often later 4runners
The head lights pre-99 use a Fresnel lens while later ones are clear glass. Same for the tail lights, 01 and 02 had tail lights where the white part was more see through.
2001-02 limiteds had a different 5 spoke wheel design.