The people who've been around the longest here use either Amsoil or Royal Purple synthetic gear lube. Those are both 75w90. You can use 75w90 in both diffs and in the transfer case. It's been several years since I've had stock skidplates, but yes, I think you'll need to drop them first.
(Don't use Royal Purple motor oil in the engine, though, since they use completely different chemistry than other brands and it's definitely not intended for long interval use. Amsoil motor oil is the opposite and is intended for longer interval use than any other brands).
Years ago, I think one of the first 4Runners to get people to look at Amsoil was Gadget. I think he uses Amsoil motor oil and Royal Purple gear lube. His web site is
www.gadgetonline.comIt's significantly easier to use a squirt bottle for both diffs and the transfer case. Amsoil doesn't come in a squirt bottle, but Royal Purple and Mobil 1 do come in squirt bottles. So get one of those first and save a bottle for future possibilities.
I've used Amsoil in everything and love it, except for their lack of squirt bottles for gear lube. If you go with Amsoil, know that it's best to sign up as a preferred customer and stock up on it for a while. It's much cheaper that way.
You might double check your owners manual, since I'm familiar with up to '02 4Runners. In previous generations, Toyota spec'ed 80w90 gear lube for both diffs and the transfer case. Everyone uses 75w90 for aftermarket stuff.