The D558 is the 5100 front shock for the Toyota Tacoma. some people in these forum say that the D558 is valved too soft for them since the Tacoma is lighter than the 1996-2002 4Runner, however, it fits the 1996-2002 4Runner.
The 24-248730 is the 5100 front shock meant for the 1996-2002 4Runner. The 24-249966, is the 5100 rear shock meant for the 1996-2002 4Runner but is up to 2" of lift only.
The BIL 4R5100 is actually the 24-100144. It is a 5100 rear shock meant for the 1999-2005 Toyota Tundra. However, by replacing the lower mount bushing, it can be used on the rear of 1996-2002 4Runner with lifts of up to about 3.5 inches (hub center to fender lip measurement of about 24 inches).
Beyond 3.5 inches of lift, you'll need the 33-187174, the 5100 shock meant for the rear of the 2003-current 4Runners (4th/5th gens) & the FJC.
HTH.