This is how I have done it, not to say it is correct or best for what it's worth.
If you look on the top of the throttle body, there are 3 small vacum lines together, EGR lines etc. These are near the throttle plate and positioned so each intake runner gets it's sea foam dose. I used one of these small lines (can't remember which one at the moment, but one is shorter and easier to use). I got a large syringe minus the needle, the plastic syringe fits perfectly inside the small vacuum line and makes a great small funnel.
I then measured out the required amount of sea foam in a cup. Get someone to sit in the truck and hold the RPMs up slightly and slowly pour your sea foam into your syringe funnel. Shut the truck down as soon as you have finished pouring, reattach the hose you used and follow the directions on the can.
I didn't see any improvement on the 4runner but my old corolla which suffered pre-ignition knock showed great improvement with regular sea foaming.