A long shafted #2 phillips screwdriver is how you access the adjustment screws.
The idea of spraying the adjusters with a light lubricant is a good one.
I posted this on another thread about a method of adjusting headlights, but will repeat here:
1. Park 4Runner on street, about +-20 feet behind a parked normal car; not a super low sports car, not a big truck or SUV.
2. Adjust headlights so they shine on the back of the car, but not as high as the side view mirror or into the cabin. If you drive in darker rural-type areas, you may elect to raise the beams up a bit from here.
3. Optional: Spread the beams as wide as possible apart, even to the extent of leaving a slight darker area in the middle. There's plenty of spill light between the two headlights, and you'll probably not notice the slightly dimmer middle while driving, plus: who doesn't want the beam spread as wide as possible?