well i got some good news for you. If i'm not mistaken all you have to do is leave your headlamps on. they will automatically turn off after about 15 to 30 seconds or you can turn them off by hitting the lock button on your remote twice. when you reopen your 4runner with your remote your headlights should turn on again. I haven't really tried it myself but i'm sure i read it somewhere on this forum. hope this helps.
If I leave the headlight on, it'll shut off after 30 seconds after locking or with two presses of the Lock button on the remote. It won't come back on when it's unlocked. Most likely those 4Runners had an aftermarket alarm of some sort.