I would highly recommend using a proper press for this, you can get them relatively cheap at harbor freight, their cheapest is $70 and is small enough to store in a closet.
It's not too hard, like has been said google it for some youtube videos of how to. It is pretty much the same process on all vehicles so don't get hung up trying to find it for a 4runner.
Be sure you mark a line across the spline joint before you pull it apart so you can put it back together at the exact same spline.