Big tires relative to our trucks coupled with good suspension travel makes the ABS engage more easily. It's a really complex system with more than 7 sensors at various points on the truck (one at each wheel), so if you're setting it off it is likely that there is a good reason for it. If you're not losing control, maybe it is doing its job?
Carefully try this experiment: You can pull the fuze as Brian mentioned, and then drive an area where you know the ABS always goes off. See how the truck handles differently w/o ABS active. Be prepared to do some emergency maneuvering! My suspicion is you'll want to turn it back on.
I went through this same procedure when I lived in TX and the road I took off of the highway everyday to my house was pretty rough, especially at the right hand turn at the end of the off ramp (imagine what washboard pavement looks like and you have an idea what it was like). ABS would go off every time from the bouncing and it got kind of annoying. I turned it off by pulling the fuze, and then found my @ss end kicking out as I went around the same turn. It was kind of fun in some respects, but drifting a corner in a 4Runner is a little bit dangerous, and I certainly wouldn't want that happening if my wife was driving.
Food for thought.