Well there's really no such thing as clear tail lights for the 2001-2002 4Runner's. They were made for the 1996-2000 Model 4Runner's so they plug right in to the stock wiring harness. Toyota changed the tail lights and the wiring harness for the 01-02 4Runner's so whenever you change tail lights you have to change the wiring harness as well.
So to answer to your question the clear tail lights will fit perfectly on to your 2000 4Runner without any modification needed! :bigok: