I've changed the oil on my 4Runner several times, and I've also let the dealership change the oil several times. For those times that I've done it myself there are a few things I've learned.
1. A nice sized piece of card board is nice to have to lay on if you don't have a creeper. If you do it in the winter, and you just shoveled snow, it works really good because it slides really easy.
2. If you have an oil filter socket cap that fits the filter you just bought... don't expect it to fit the Toyota OEM filter if that's what you're removing. B sized socket cap fits Bosch filter perfectly, Mobil1 Extended Performance takes some wiggling, and OEM filter is smaller on the end. If you fold up some paper towel, or a piece of a t-shirt, and put it into the socket cap it will help fit on the OEM for removal if it's too tight to remove by hand.
3. Having a socket extension with a swivel tip will make things much easy when it comes to removing the filter. The suspension components are slightly in the way to run a regular extension. The angle you have to use is just a bit 'off', but you can make it work if you don't have a swivel extension (I don't).
4. Not a big deal, but thick 'shop' paper towels are nice to have. I prefer them much more than a shop rag. They soak up better, and you can just toss 'em & not have to worry about washing oily rags in your washing machine.
I spent roughly an hour+ shoveling all the snow from behind the garage so I could pull the 4Runner around there to do the oil change. I forgot to move the container I use to drain oil into from outside. So it was buried under about 6ft of snow. So I used a box lined with a garbage bag to drain the old oil into. Then I couldn't get the old filter off. That turned a 20 minute job into easily double+ that. I finally ended up removing the front wheel so I could get better access. I still had no luck with the filter socket, but after the tire was off I was able to get a *good* grip on it with my hand and twist it off after a few tries. I also bought a longer funnel to making pouring the 5+qt container easier.
I'm giving Pennzoil Platinum a go this round, with a Bosch filter. In the past I've ran Mobil 1 synthetic, with a Mobil 1 Extended Performance filter.. or whatever Toyota uses when I've let the do the change.