I would say yes, but it’s complicated. My first 4th gen I installed a double din scion radio. This was before Bluetooth was a thing. I didn’t have an aux in my 4runner, but wanted to add it so I pulled an aux connector from a wrecked scion and traced the wires all the way to the back of the radio. It traced all the way back to a basic white connector. There were some additional wires there that traced back towards the speedo, I ended up snipping those. My 4runner had that connector, but not the aux wires, so I just plugged in the one from the scion and the aux worked.
I later found out those extra wires that I snipped were steering wheel control wires. I added steering wheel controls at a later date, and I ended up having to depin the OEM connector wires and add them into the scion aux connector.
So that’s all probably pretty confusing, and it’s been probably 8yrs, but if it’s got an aux output, it’s going to be in the form of a basic 10pin (or something) white connector. And on my 04 it was the connector with the steering wheel controls. So if your 4runner doesn’t already have an aux, I would seriously look at what these other guys have done, or add a scion radio with Bluetooth capability or probably even better, an aftermarket radio.