A lot of people get really confused about the whole octane thing with good reason. There are a LOT of myths surrounding it. The octane number only tells you that fuel's resistance to pre-detonation. In other words, its resistance to be ignited in the combustion chamber BEFORE its intended to be by the spark plug. The compression and heat of the combustion chamber can set the fuel-air charge off prematurely in an easier fashion with a lower-octane fuel.
Now, a lot of people have started to think that there is more inherent "power" in higher octane fuel. This simply isn't the case. The differences are in the additive package and are simply not really measurable in the real world power-wise. Where all this confusion came about was from those simple words: "for higher performance premium (91 or higher octane) fuel is recommended". People unfamilar with engine design and controls (as well as basic operation) simply started thinking that applied to all vehicles and meant premium fuel must have more "punch". Alas, no. The added performance comes only in engines which use knock sensors. With higher octane fuel, such engines can advance the ignition timing more before causing detonation (ping) and thus setting off the knock sensors. Thus, a performance increase.
The 4Runner has knock sensors for both the V6 and V8 engines, so in theory running higher octane can provide additional peak power. HOWEVER...I say in theory for a reason. The engine may be perfectly capable of providing peak power via maximum timing advance on regular octane gasoline. In that case, running premium gives no benefit at all.