I didnt see any mention of the KDSS on it. I dont think it is offered on the limited. I am not knowledgeable.
Is the 4runner just not stable with normal driving due to suspension being more off road friendly?
Maybe bigger sway bars can fix that? Not sure..
The OEM suspension tends to be very wallowy and boat like. The brake-dive is pretty substantial. This can be greatly reduced, virtually eliminated with aftermarket suspension. Something as simple as Bilstein 5100's (which is what I have) or the Eibach Pro Lift kit are very affordable options and do a great job in firming things up.