Can't speak specifically about an 4 runner, but I'll tell you how to handle 07 camry which may give you something to investigate.
First, you should have all 5 tires up to pressure, don't forget the air pressure in your spare which may be your real problem.
Secondly, there is probably a set of instructions in your owners manual, which tell you how to reset the tpms to current pressures. You get all 5 tires to a specific pressure, and then there is a little somewhat hidden button to the left side of the glove compartment when you open it, which resets the tpms. The instructions in manual, tells you specifically the steps to follow.