First off, the $2k the dealer wants, atleast half of it is in labor, at retail prices the parts should run about $5-600, plus the lower A-arms. The idler arm and pitman arm should run around $250-300 (for both retail), around $150 if you know someone who can buy parts at cost. Figure about the same for the upper and lower ball joints(if I remember correctly). New tie-rod-ends and adjuster nuts for both sides should run under $75(at Napa). I am not sure about the cam bolts(shouldn't be more than $50 for the pair). The lower control arms if yours are completely rutsed out, should be replaced. You should be able to get them for free plus shipping off of either this board or Pirate. Actually you could probably get most of this stuff from someone who is doing an SAS, except the pitman arm. Check out the for sale items, and post what you need in the wanted section. For a correct alignment, all of the items listed above need to be in working order, or adjustable(cambolts). J94_4runneráis goiing to be doing an SAS on his 4 runner, you should send him a PM and see what parts you can get from him.

As far as replacing the stuff, it is pretty straight forward, just disassemble and install. You can download a complete factory service manual for $10(full day access) here http://techinfo.toyota.com/ If you have some friends that have Toys, you should you could split the cost and download one for each truck.