Good question. It would help if you mentioned whether you were driving around town or on the highway, but I'll attempt to help. In most cases driving slower will always result in the best gas mileage. For example on the highway, driving 55, if possible, will result in close to the best mileage a stock 4Runner will get.
There are quite a few things that make the vehicle less likely to achieve great mileage starting with the drag coefficient. For the 13, it's 0.36. Using a curb weight of around 4500 pounds, not taking into account any wind speed or direction, that itself, is a hurdle to contend with. I'm hoping you didn't buy your truck to get great gas mileage because it simply isn't too capable.
Another thing to keep in mind is that as you increase the speed, the air resistance is greater and that has to be overcome. The result is, burning more gas, to put it simply. Obviously, the more aerodynamic the vehicle, the higher the threshold will be as far as wind resistance.
Personally, I would recommend 55 on highway to get the best mileage...all that is considering your truck is stock, tires are inflated to the correct pressure and you aren't carrying anything more than what you need.