Al the systems that are incorporated into the latest 3rd gens, are TRAC, VSC, ABS, EBD, and BA. Only one ECU does all that.
I was thinking of making this type of a conversion on my diesel Runner, as it would have been really a great achievement to have all those systems on manual transmission and mech diesel engine, but it was not possible with my current setup.
As Charlie mentioned, the hydraulic brake booster from the latest 3gens, is far to complex to be just bolted in. Even tho it's the best of all the vehicle stability control systems, it is integrated into automatics only.
So if yo plan to install it into a manual 4Runner, it is not possible as the logic is designed to work only with automatics.
Component wise, the system consists of the brake booster, a controller under the steering wheel, a few sensors more than the abs system, like the yaw rate sensor, a steering sensor, and an additional box with 3 relays. You will have to exchange all the piping to make it work too.
And as mentioned earlier, the VSC is integrated into pretty much all the other systems - engine control, 4WD control, Cruise Control if you have it, and the combination meter, with all the lights for it.
If you install an electronic diesel engine with the same automatic as the 5VZ, you could make the system work. But if your diesel engine is with a mech pump, then you have to spoof the VSC ECU that it has a connection to and control of the engine, more specifically the engine's throttle body sensor, and RPM sensor.
You could technically create a homemade simple ECU from arduino or raspberry pi to simulate that there the VSC ECU has control over the engine itself, but that further complicates the retrofit, as your choice of the diesel engine is one that at least has control of the transmission - therefor an electronically controlled engine.