Yes, 1999 Tachoma, is largely the same thing, although there is a laundry list of things that need to be done as basic maintenance, which I assume is the same on the 4runner since they are basically the same vehicle. Mine needed rear axle seals, timing cover seals, and I did the water pump preventatively as part of the timing belt change, also because I have the warm climate version, the starter is too small and eats the starter contacts every ~70K or so miles, and last time I just swapped in the higher current starter instead of doing the contacts for the 3rd time.
It also has grease fittings on the drivetrain that, if not greased on a regular schedule (read maybe every ~10K miles), will squeak, the mass airflow sensor needs to be cleaned on nearly the same schedule as even tiny amounts of contamination throws it off and the gas mileage will suffer and eventually the 5ZVFE will knock because of it. And because it doesn't have auto tensioners on the belts, they need to be checked and adjusted every 40K or so, etc. Lots of extra maintenance that some of the newer Toyotas don't seem to require. And of course, just about all of the toyota truck/4runners/etc of that era a super sensitive to brake and tire wear issues which turn them into vibration machines if not kept in perfect alignment/wear/etc because apparently the suspension/etc are so lightweight. Plastic headlamp fog is another one.
While yes, things that seem to wear out on other vehicles seem to be designed for the vehicle's life (alternators, wheel bearings, AC, cabin controls, etc).
(ex my 201x 4.6L tundra, which is plugs every 100K, brakes, tires and fluids, oh and hell the battery on that thing even lasted 2x as long as it was labeled for, I just replaced it last year)
Anyway, many of those items can be ignored for a long time if the vehicle is treated like a 20 year old beater. Things like the rear axle seals can leak into the rear drums and largely be missed until someone notices that the rear diff has been run for 100k miles with barely any fluid, and is cooked. The same is true for the valve covers; they seep in the back near the firewall or onto the exhaust manifold. Unless you look for it, there won't be enough oil lost between changes to notice.