Trucks and 4Runners have no provisions for a PTO. You will have to make something custom.
There are PTO winches on Toyotas, but they are on the landcruisers. They have the PTO plate on the side of the Tcase, and I have personally worked on Landcruisers with factory PTO winches.
84-85 Trucks/4Runners had a factory Electric winch option, but good luck finding an original one of those.