Has anyone experienced this?
In drive with brake pressed down, turn on AC and it starts. Turn off AC it stops. When driving no noise and AC is working.
Serpentine belt looks good, an idler pulley maybe? AC compressor clutch also came up in my research.
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Definitely either belt, one of the pulley bearings, or the tensioner. Do some isolation type trouble shooting within those components and system.
Have you tried to switch the AC compressor on/off with the fan still running?
You don't say year or mileage of your 4Runner. I have have the same issue with my AC on my 2004 BMW 330i with 156k miles. It's been this way for quite a while now. I used my meat thermometer (Thermapen) and checked the temp and it's a chilly 44 degrees so it seems to be working just fine. Might need to get it recharged? I just took it to my mechanic and he checked out the compressor and said everything seems to be working fine and that it might be the tensioner pulley that is squeaking. When you turn the AC compressor on, it can put more tension on the tensioner and will cause more noise at times. One nice thing is that the BMW engine has a separate belt and tensioner for just the AC, so that makes it tons easier than the Toyota which looks like it's one giant belt with several pulleys and tensioners.
The tensioner is a relatively cheap and easy item to replace DIY.