My wife and I have a 2000 Toyota 4-Runner and we started using a fuel catalyst called Fuel Infusion (www.fuelinfusion.com) in it about 3 months ago. We were averaging about 17 mpg before, and we now see about 20-21 mpg consistently.
Other than that, i would make sure that your tires are inflated properly, your air filter is clean, and you're not driving with a lead foot :)
Good Luck!
The 2012 Toyota 4Runner has a V6 engine.
The 2003 Toyota 4Runner has a V6 engine.
The 2005 Toyota 4Runner has a V6 engine.
The 2014 Toyota 4Runner has a V6 engine.
The 2011 Toyota 4Runner has a V6 engine.
The 2002 Toyota 4Runner has a V6 engine.
The 2013 Toyota 4Runner has a V6 engine.
The 2004 Toyota 4Runner has a V6 engine.
The 2009 Toyota 4Runner has a V6 engine.
The 2008 Toyota 4Runner has a V6 engine.
The 2007 Toyota 4Runner has a V6 engine.
The 2006 Toyota 4Runner has a V6 engine.