You should always know the numbers, particularly on a lease (as another member mentioned). Always negotiate the sales price first (just like you would if you purchased/financed). Then, you need to know the residual value of the vehicle for the lease term, and the money factor. Both the residual and money factor can be negotiated, and this is where dealers can f you over. If they ask, 'how much do you want to pay per month,' don't answer that. It's a trap. Negotiate sales price, money factor and residual. For a 4runner, I would finance, as it retains its value well.
I personally paid sticker price/msrp otd, before taxes. This included dealer fees etc, so my sales price is less than msrp. I had to fly out to another state and drive it back, but it was well worth it.
Congrats on the off road premium!