having the stock aux switches was a game changer for the Bronco Community, made wiring up anything super simple. Looks like Toyota isnt putting this option in unless its the higher trims like TRD Pro / Trail Hunter. Yet in my area of Ma/NH I have yet to see anything besides those 2 trims have...
Don't have a 4Runner Yet... but have plenty of experiences with RTT's. you should be able to put up a tent like a roam vagabond. where it opens up on the side. if you want a rtt like a desperado then you will have to get sherpa, prinsu or westcott style roof rack