I purchased one of these for my toyota.  Haven't trail tested (pavement princess and DD) but did test in my garage.  It is very similar to the safe jack I have for my jeep but for a fraction of the price with all of the various extensions (most of which I won't use given my vehicle height but neither would I use all the ones included with my safe jack for the jeep) and a much better base plate add on than the safe jack one.

I got mine on zorro with a discount code but if u did a search on the jack I found some for even less. So between $114 and 153, this is hundreds cheaper than the safe jack (if u got the fully loaded option i.e the general) and IMHO, maybe a little safer/stable than the hi lift.  Definitely a smaller footprint and it all fit in the toyota cubby under the seat where the stock jack mounts (new jack fit perfectly when I replaced the toyota jack using the same cradle).  Comes with it's own bag for those that have jeeps to toss in the back.

Something to consider if you're like me and was tired of looking at my hi lift mounted to my hood rusting away adding more weight to my rig.  Of course it isn't as versatile as a high lift if u needed to use it as a come along on the trail but for its primary purpose to jack up your rig to swap a tire it should work just fine.

https://www.zoro.com/power-mountain-15pc-tallboy-off-road-jack-50015/i/G810917236/" rel="nofollow - https://www.zoro.com/power-mountain-15pc-tallboy-off-road-jack-50015/i/G810917236/

You may keep wooden blocks in the 4runner but that isn't part of my basic load plan :)

Bad idea.  I have had multiple situations where the jack was sinking into the ground, and some pieces of 2X12 spread it so it doesnt sink.  Also makes a short jack reach much higher, so multiple purposes.  Some cribbing is always a good idea to have around, to block something up.