It's a normal byproduct of hard acceleration and the chemistry involved in catalytic converters. In short, the combustion process is less than optimal in most driving situations, allowing hydrocarbons and sulfates to build up in the cats. As temperatures increase or you get a sudden heavy burst of hot gases, a reaction occurs (by design) that converts the hydrocarbons to sulfur dioxide... releasing the rotten egg smell. 4Runners get it the worst because our tailpipes go straight out the back and we have a window that CAN be rolled down and the airflow comes up and into that window when it's down.
The best option is to have a shop bend the exit pipe to the passenger side and put a nice exhaust tip on it.
Thanks Mike. I'll look into that.