Bad axel shaft u-joints. U-joints bad in the front driveshaft. It would really help to know the year.
torque converter lock out engaged.
It is 4 wheel drive when the system is engaged. In 2 wheel drive the vehicle is driven by the rear wheels.
Tyres unevenly worn or unequal tyre pressure in a 4 wheel drive vehicle will pull right or left when 4 wheel drive is engaged.
A vehicle moves forward when in drive due to the transmission transferring power from the engine to the wheels. Possible causes for a vehicle not moving forward in drive could include low transmission fluid, a faulty transmission solenoid, a defective torque converter, or a worn-out clutch (for manual transmissions).
It CAN be CV joints, but it depends on the sound.
The actuator on a 4-wheel drive allows the vehicle to shift into 4-wheel drive with the push of a button or a shift of a lever. The actuator allows the front axle to become engaged.
4 runner means four wheel drive. If the 4runner is only two wheel drive or the 4 wheel drive is not engaged, the rear wheels power the vehicle.
If it is a rear wheel drive vehicle it is either low oil in the rear end or an axle bearing. On a front wheel drive vehicle it is probably a bearing.
Engine idle too high.
Check the engine RPM. If the engine is running too fast when you put it into drive, it will cause the vehicle to jump.
If the vehicle is a rear-wheel drive, the tires should be able to rotate when not in contact with the ground - unless the brake is set to stop the rotation. If it is a front-wheel drive, the tires should not rotate unless the vehicle is in neutral - likewise if 4-wheel drive is engaged.
If it is a front wheel drive vehicle it could be a bad CV joint. In a rear wheel drive car it could be a bad universal joint.