I finally got around to doing this -- for future searching, here are the parts I used (I found a bunch of different info when searching for the parts, so this might help out someone else interested):
My 4Runner: 2008 4WD SR5 model, stock suspension, non-XREAS. I measured a 30mm front swaybar and 19mm rear swaybar, using calipers. Looking at
Energy Suspension's website, they actually list different swaybar diameters for the 4Runner (smaller by a few mm). This didn't make sense, so I bought "generic" greasable swaybar bushing/bracket kits made by Prothane, through Summit Racing.
Below are the part numbers I used. Everything lined up and installed easily with hand tools.
front: 30mm greasable, zerk fitting w/ cap included, red urethane (black was more expensive for some reason): PTP-19-1186 -- $12.95 at Summit:
Prothane Motion Control 19-1186 - Prothane Sway Bar Bushings - Overview - SummitRacing.com
rear: 19mm greasable, zerk fitting w/ cap included, red urethane (black was more expensive for some reason): PTP-19-1162 -- $11.95 at Summit:
Prothane Motion Control 19-1162 - Prothane Sway Bar Bushings - Overview - SummitRacing.com
Summit Racing's photos do not show the grease zerk -- it's a generic photo of a swaybar bushing -- but these part numbers DO come with the grease fitting. I used the same red sticky grease that I use for U-joints and general chassis lube.
For the rear swaybar end link, I used some univeral end link bushings I had left over from an old Jeep. As CJ3Flyr mentioned elsewhere in this thread, these are pretty much a one-size-fits-all bushing. I remember buying them at some auto parts store like Pep Boys.
Note for future use: I need to replace 3 of the 4 zerk fittings with angled fittings for easier greasing. The two front fittings are very close to the skidplate, and the driver's side rear fitting points straight at the gas tank -- it'll be hard to fit the grease gun nozzle on these zerks. The fittings unscrew easily from the brackets. If you're installing these brackets, you might save yourself some time later and get new angled zerks before you install the brackets on the 4Runner.