Hi
I have a 2004 2027 and an 8 cylinder 2002 Toyota 4Runner. And yes it is true that Toyota doesn't want you to use a weight distribution hitch on a 6 cylinder.
I do use a EAZ LIFT load leveling anti-sway hitch. Though I didn't have any issues with sway, the 300 plus tongue weight dragged the back end down. I have only been using the EAZ for 2 years and like it a lot, which also means that I lived without it for 11 years. But you really have no options for the 6 unless you can find a hitch guy that can beef up the way the hitch is attached
on your 4Runner. It will be a very sad day when my 8 dies!
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