I know I need an alignment in the worst way
I was in the same situation last year, toward the beginning of COVID - I really didn't want to circulate. I needed a second alignment, but didn't want to keep paying and paying. So, I watched some YouTube, and gave it some thought.
I then tackled my own alignment. It was a different vehicle (Suzuki Grand Vitara) and I only worried about Camber and Toe-In, for my DIY approach.
Simply try this:
With your lift, can you hook a tape-measure into a tread-block in the mid-backside of your tire, and measure to a tread-block-edge on the other side (where you are laying)?
Then, at the same pattern of the treadblock, but on the front, can you hook and measure across the front? The front should be narrower than the rear - I looked up the 4Runner spec, and it can be as much as 0.10-degree. With a 31-inch tire, some quick math (TAN) tells me this is a bit under 1/16 inch.
It's important to hook onto the same hill or valley in the tread patterns, so you're getting a fairly accurate toe-in measurement. If in doubt, re-measure several times.
So - you should be able to measure OK if the rear-mid-tire is 1/16" wider than the front-mid-tire distance.
Loosen the tie-rod lock nuts (more YouTube and very-hot propane flame if yours are stuck). Think about your steering wheel, make adjustments that re-center your steering wheel.
As you get close (it may take 5 tries to get close) you'll find you're probably making about 1/12-turn on the rod-ends. The satisfying thing about this DIY approach - beside saving a lot of tire-rubber - is that you will get a feel for your handling, and you can adjust things to your liking.
At the very least, this should hold you until everything is settled, and you can take it in.