I've owned two 4Runners in the past 8 years: an '88 Limited 4WD 3.4 V-6 and our current '03 Limited V-8 AWD. Both have been used extensively to tow my track car. The car and trailer weigh ~4,000#, and I've probably towed for close to 40K miles with these two vehicles. My towing has included blistering heat and mountainous terrain.
Neither 'Runner has had any aftermarket engine or tranny oil cooler added. I've never seen my ATF overheat light illuminate and have never had any hint of a problem with either vehicle. The only "nonstandard" thing I've done was to flush the '98's tranny at c. 30K miles and replace the original ATF with Mobil 1 synthetic.
When I sold the '98, it had 75 K miles on the odo and the tranny still performed like new. My '03 still performs like new at 55K miles, and I'm confidently looking forward to driving it at double that mileage.
I think 4Runners are extremely robust vehicles that have no need for add-on transmission coolers, even when the vehicle is being used hard, as mine have been. Good luck with yours.