Thanks for all the replies. The iPhone DOES work with the voice dialing, no problem. It actually set up quicker and easier than my Motorola RAZR. It also works fine and dandy with it plugged into the charger, which is the way I use it. Everything works just like it should. The only downside is the contacts from the phone book must be input manually since the iPhone is made to sync with iTunes. I figured out another way around it, I still have my old RAZR and paired it with the car and then downloaded the phone book from that phone. Worked fine and then I just had to input the missing numbers or the ones that had been updated.
What you can't do with the iPhone is have the iPod feature work while the phone is hooked up at the same time. Or at least, I haven't figured out how to do it yet. Has anyone tried to run a cord from the iPhone into the AUX jack in the center console AND use the phone? I don't see how you could change the tracks without picking up the iPhone and doing it by hand. It would be great if they could get that working together.
But for now, I'm a happy camper. My iPhone works in the 4Runner while being charged at the same time. Love that voice dialing feature.