Starting is the same for a cold or a hot engine. Key in and turn. I must admit I think you are asking something else tho, right? Are you having trouble starting a cold engine? If so the cold start injector is probably clogged, not working or disconnected. Open the hood and look at the manifold. On the left side there will be many vacuum lines and hoses. In the middle there will be a connector coming in from the top at the edge of the manifold. This is the cold start injector. Ensure it is connected correctly and it may need to be inspected internally if the connection is good.
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.