Leasing isn't for everyone
Those numbers do seem a little on the high side. Keep working on them, and they'll come down a little. Most people don't really understand how leases work, so they immediately discourage you from doing it.
Just like purchasing, you CAN negotiate the purchase price in a lease. The lower the purchase price, the lower your payments.
And anyone who turns a car in at the end of a lease without first doing some research is just throwing money out the window. Your residual is $16084 on a truck that will probably be worth close to $24000. THIS is why leasing a vehicle like a 4Runner that holds its value can make some sense. Try getting those numbers leasing a Ford. At the end of your lease, you could potentially turn around and sell that truck and walk away with $8K in your pocket, which means you would be ($8000-$5450) $2550 ahead of the guy who financed it instead. He's got a 4 year old 4Runner that's not getting any younger, and you're off to lease another brand new one, using the money you just made to supplement your payment to bring it further down $166 ($8000/48 mo). Now you're paying a little over $400 for a brand new 4R and he's still paying a little over $700 on a 4 year old truck.
Bottom line, if you are planning to keep a truck for 10+ years, follow Dave Ramsey's advice and don't lease. However, if you're like the rest of us, and hate pouring money into an aging vehicle that's losing value progressively as it ages, leasing could be a sensible option. Sure, you might always have a payment. But it'll be substantially less than the guy who financed the same vehicle, and you'll be able to get a new truck every few years.
Just my $.02. Sorry for rambling.