Look in the factory service manual. The FSM is in a sticky on the top of the forum. In the very front of it in the maintenance section is a very detailed step-by-step on how to do a tune up. You may not need to change anything, but it will guide you through your "once over" that you're wanting.
In my opinion, taking a vehicle to a mechanic for a visual inspection is like asking a mechanic to find something that isn't broken and charging me to replace something that doesn't need to be replaced.
Your best friend in maintaining your 4runner the right way is by using the FSM. Plus, if you do it yourself you'll learn more about your 4runner and you'll know it's done right as if toyota did it them selves.
