I’m not surprised by the motion sickness. Its a known thing for passengers of a 4Runner. For one, the car continues to bounce softly even after it has come to a complete stop. Then there is the lean on turns.
This is why I opted for a model with KDSS for the firmer on-road feel with the softer off-road combined. Good luck with this. Passenger motion sickness was my second biggest concern.
Actually, Camry’s in the early to mid 2000’s were also known for this. Not sure what other Toyotas were, but many have complained about their suspensions, which is why I had always opted for Hondas.