It really depends. You're 200k away.. Do you have an aggressive driving style? Do you change the oil often? Automatic transmissions require more maintenance than a manual. It will def need upkeep, but I sold my Tacoma with 270,000 miles and the engine would still pull. Now I have a car payment
If you are the first owner of your vehicle, you know when it is performing optimally. If it is sluggish, or not top-notch, take note and act. Replace your Oxygen sensors when they need it to keep your computer from over-compensating on air or fuel. I think your 4Runner has a center differential too, make sure to replace the diff. fluid every 90,000.
Some people think the earlier pre-'05 models were built to a different standard of quality, but I'm not sure.
My experience -
Timing belt changed three times.
Replaced starter and alternator @ 160,000
Replaced the stock clutch (manual) @ 175,000
Replaced stock suspension @ 210,000
Replaced clutch master and slave cylinders @ 240,000
Replaced my first tail light bulb @ 265,000!
As long as you love you Toyota, your Toyota will love you back.