Somewhat, but the 20" rims and skinny tires will introduce other characteristics that you may or may not feel are "problems". However, if you are willing to swap out the rims for either of the 17" versions (with the appropriate tires), you'd reduce most of what was complained about in CR. Reduce, not eliminate. My TE has KDSS and handles great in corners, but the nose still dives under hard braking. XREAS helps with both but doesn't eliminate either completely.
Seriously contemplate your use of the third row. If it is a "must have" that you will be using frequently then a 4Runner may not , in fact, be "the right decision". If the third row is for the rare occasion and occupied by smaller people, the 4Runner might be the perfect SUV.