Yes, and the ECU's to control both the engine and trans. Or you could fabricate an adapter to mate the 5.7 Toyota motor, with a suitable trans. Although that would be a lot more work.
Physically fitting the 5.7 engine and trans, in the 3rd gen, will take some Fabricating of the engine bay and the transmission tunnel.
Then you'll need to find a stronger rear axle, as the stock 4Runner axle likely wouldn't live for any length of time behind a stock 5.7. To say nothing of it's lifespan behind a hopped-up 5.7. The Tundra rear axle could be narrowed to fit the 4runner body. Then either lift the 4Runner to clear the Tundra rear axle, or modify the 4Runner frame and body for clearance.
If you use the Tundra rear axle, you will need to change the wheel bolt pattern of either the Tundra axle, or the existing 4Runner front end, if you want to run the same wheels front and rear.
Then there's the wiring to make the Tundra drivetrain work with the gauges in the 4Runner.
Depending on the what the emissions laws are where you live, there is the possibility of what you end up with not being emissions legal. If that proves to be the case, it couldn't be licensed for the street.
So research that before you get started, if you want to drive the final result legally on the roads.
It should be a great project for someone with highly advanced Fabrication, Mechanical, and Electrical skills.
Good luck.