The Tacoma and 4Runner exhausts are potentially interchangeable if you cat has never been welded on for the Doug Thorley kits. If you have a completely stock exhaust for the 99-02 years with 2 cats, it has been known to line up right. However, you will still need to have a flange welded on in most cases so it's not a bolt-on job even then.
If you have a 96-98 or 1 cat, it's almost guaranteed you will need a custom exhaust job done. Not to mention you'll probably have to relocate your transmission dipstick bracket as well.
Check my build thread for what the technician had to do to install my headers:
http://www.toyota-4runner.org/3rd-g...-supercharged-t[u]rd-build-2.html#post2823900