If you want to see an "easy" comparison, go and look under a commercial truck (semi tractor or large straight truck) such as a Navistar, Freightliner, Kenworth, etc. Check out a trailer or even a school bus. I think you will see the ladder frame with both latitudinal and logitudinal support beams for handling a lot of weight.
After that, examine the undercarriage of most any minivan or smaller SUV. Extreme examples - but you'll get the point.
The 4Runner is indeed a "body on frame" design. The only passenger cars I know of that are "body on frame" are made by Ford: Crown Vic, Mercury Grand Marquis and Lincoln Town Car. There could be more, but I can't think of any off hand.
I may be a geezer, but I remember when most cars were indeed made that way. Unibody cars were in the minority, and consisted of the Chevy Nova, Ford Falcon, Chevy Vega, Chevy Citation, Dodge Aeries, etc., etc. during that pitiful automotive era we try to forget about.
:bash: