Yeah me too
Yup, that's the exact issue. It's due to worn bushings (or poor assembly) of the shifter. I fought it myself when I got mine... this stupid piece:
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Here's the write-up for replacing the (upper only?) bushings:
Loose Shifter? - Replace your shifter bushings! - Write up with pictures
Auto Trans Shifter Bushing Replacement & Transfer Case Shifter Seat Replacement (3rd Gen 4runner) - YouTube
That video will probably give you all the details you need (though I didn't watch to verify, Timmy and Sean are usually Very good about their videos.)
Plenty of other threads in the forums too, if you feel like searching for different angles of describing the whole thing. I didn't find any change/benefit to changing the shifter bushings, even with 2 mostly disintegrated. But the key being let loose from the ignition every time was worth it.
Scroll through this thread and check out the hyperlinks: 3rd Gen T4R DIY Maintenance, Repair and Modification Videos mtbtim has a youtube video for most every common repair for 3rd gens
SKP SK90619, I got them from Rockauto for a whopping $6.71 each - must be super good!
More Information for SKP SK90619
What Tires are you running? [MENTION=677290]ARTHUR4STX[/MENTION]
On a newly acquired '01 SR5 with 144K miles, we paired two new key fobs, replaced the driver's door lock actuator, soldered three broken conductors located at the rear tailgate hinge and which were preventing the rear window from rolling down and the rear door lock from locking, inspected and (hopefully) resealed the charcoal cannister (due to P0440 and P0446 codes), sanded and painted some rust spots on the hood, drained and refilled the rear diff fluid, and changed the oil.