Yes. You Locate D2 Connector on Daytime Running Light & Turn Signal Flasher Relay which is mounted on the back of the driver side interior relay/junction box.
Identify Pin #12, light green with red stripe wire. This is the wire that the body ECU uses to send the ground signal to the Daytime Running Light & Turn Signal Flasher Relay. Cut the wire and tape up the ends to disable DRLs.
Great points, but around here they will charge you an hours worth of labor. So indeed try the dealer first as it can be disable by them. But for the greatest flexibility I suggest the DRL mod with switch to either run them on or off. You can do the mod in the time it takes to get to the dealer, have them perform the disable and return home.
Is your 4Runner an SR5 like mine. I have an 04 and i dont either, so i think ours is not equiped to activate them. I looked and looked but could never turn them on