I remember that trick from the Grand National crowd. I just did some research on the this for 3rd gen. I'm not positive when it locks from the factory, as the only info i have on the toyota auto trans is from the autoshop101 website, which states it locks above 37mph, and in high gear. This is general toyota info though, so not sure if the 4runner is exactly the same. i would probably want to do a little bit of research on this before spending the time to modify it.
As far as doing the modification, i do have the wiring diagram for the 00 4runner, if you don't have a 00, then i suggest spending the $10 on a day pass for the TIS website, anyway the wire can be found at the engine ECU, terminal #9 and is listed as green w/ red stripe. It should be a Positive trigger. If you want to do it at the transmission side, it is listed as a yellow wire in terminal 3.
This would be an interesting project, if you have time to play w/ it before i can keep us posted!