For those contributing - good discussion. For those who think this is an actual concern......how do you get through a day in life without loosing your mind worried about much more prevalent hazards/concerns? One case, two cases.......a dozen cases does not make this a reliability problem. Not directed at OP, I think the intent of the post was a discussion with a couple data points provided.
If you have the 4runner somewhere that you truly need 4x4 and can not walk out or contact someone then in all likely hood you have radios, GPS Beacons, Shovels, Traction mats, Winch, Rope and a stubborn self reliance that says " Like hell if I can't get myself out of this" - I don't think having a running 4runner that only has 2wd is going to hold you back.
Do I like that this could happen, no but I am not going to argue with the internet about what Toyota coulda/shoulda done. If you don't like it - Go by a Jeep and tell me if you feel better in that then the Toyota in these imaginary scenarios
Moving on the the "problem"
Option 1A: Code reader to clear codes - may not help in all situations if the code comes back on start up
Option 1B: [MENTION=65614]Antman[/MENTION] has the right idea, power/ground the ADD to get it to engage - not sure what else there is to discuss. This seems the most logical , realistic solution. Granted this may be easier said then done
Option 2: AWD / FJ Cruiser (manual) Transfer Case swap - Deletes ADD, and Transfer case electronic accusation - you would have complete control, the electronic nannies may not function
Option 3: Go with a friend in another Toyota (last but most preferable)
:gun5::frusty::boxing: