generally I'd say they are not bad. I have no science based evidence other than not seeing too many posts in the 5th gen section about frame rust. you see one pop up every now and then that is bad, but it's not the norm
I have a 2012, 175k miles about and it's been in Canada it's whole life. road salt and all. frame has surface rust but nothing of concern. never been undercoated. I have a 2010 rx 350 that has nothing but surface rust on the frame. never been undercoated. if you're looking at a used 4runner and the frame looks ok then I wouldn't worry about it. I find most of the rusty vehicles in canada come from quebec where heavy salt is used