We had the same, but it was a combo of issues. Costco improperly balanced the tires(don't have the proper centering mandrel for the balancer, unique to 4runners) which then had to be done by another co. I replaced the drive line mounts(engine and trans) which reduced the vibrations markedly. The last iteration that killed off any and all stability or vibration issues on the highway, was rebuilding the suspension with urethane bushings. The ones in the rear(ie rear lateral rod, rear control arms) really make quite a difference.
regards