The hi-lift is kind of a love it or hate it.
First, read the manual and be extremely careful. Whether you are jacking or winching, they can actually be deadly.
Most vehicles, including most stock 4Runners, do not have sufficient mounting points to use a hi-lift. You need securely mounted rock sliders or some type of more sturdy bumper (ARB bumper for example).
They do make a very useful accessory (wheel lift) which allows you to lift a tire using the hi-lift attached to a wheel. You would then have to block the truck somehow to change a tire.
With that said, I've used mine with my old lifted Tacoma and loved it. I had rock sliders and I could lift my truck in seconds. I needed it as the lift and 33" tires I had made the stock jack useless. I also had the wheel lift which saved me off-road a couple times.
Be careful mounting the hi-lift. They are heavy and again, are deadly in an accident if they dislodge from the cargo area and start flying toward the front seat.
That's the short hi-lift story.