Yup. I was going to post a link to the on-line 2002 4Runner FSM at NCTTORA, but that paragraph and illustration is missing from the page. ??? In my '99 paper FSM, under Rear Drum Brake--Installation, it says:
"Adjust the adjuster length to the shortest possible amount;
Install the drum;
Pull the parking brake lever all the way up until a clicking sound can no longer be heard." [page BR-31, Vol. II, '99 Toyota 4Runner FSM]
The illustration shows the e-brake lever with an up-down arrow and the drum with no wheel in the same frame--so it's pretty obvious you do it while on the stands. That's the way I did it. Obviously, your e-brake and the auto-adjuster have to be working on both sides or it's a non-starter.