As was mentioned. With a small lift - not needed. With a big lift - shouldn't be needed either... although I would probably buy one to fine tune lateral axle placement.
What you really should be doing is modifying the mounting location so the bar is horizontal as a starting point. A longer bar kinda works, but doesn't really get to the core issue. Drop bracket for the upper mount or an extended bracket for the axle side would be a better choice. With just a longer panhard bar sitting at an angle your 4runner will handle very poorly on the highway over big bumps - it causes the rear to shift laterally and feels unsettling. And it makes for poor towing characteristics.