my 2020 limited pulls as well. I have 3900 miles on it and had it back in at 2500 - was told it was within spec. I constantly have to put slight pressure on the steering wheel to the right side. They claim it's the crown in the roads. I plan to have mine checked again when i take it in for the 5000 mile service.
I thought about this, not sure where I can find a perfectly straight road here in south Florida but I have tested in different streets and highways and I’m still getting the pull.
I ended up bringing back the 4runner to the shop. 3rd time is the charm !
What I see missing is cross caster. For areas with more crown in the road, you want more caster on the left hand side than the right hand side by about 0.2-0.3 degrees. That will cause a slight pull to the left that will offset the tendency to drift right on crowned roads. Have them set the right hand side caster to around 3 and the left to 3.2-3.3. I think it'll go a long way to helping resolve your issue.
good luck
Wait. Unless I'm reading this wrong, he would need more positive caster on the passenger side to fight the road crown compared to the driver. That's always been my understanding of it anyhow.
What do you set your tire pressures to, OP? I filled mine up from 37 psi to 40 yesterday (285/70/17). Drove it around today and it made a pretty big difference in my case. I find it wants to go straight and I don't have to hold the wheel to the left as much.