I'm under my '01 every 5,000 miles or so to grease all of the fittings. From memory, I grease either 8 or 10 fittings. After posting on here three years ago, I opted to use a good quality chassis grease for all of the fittings. While there may be merit to using different types for the different joints, I'd wager that most 4Runner owners never touch these - ever. That's usually followed by a post regarding some driveline component failure...

When I do mine, I have the truck on a level surface, and in neutral. Then I get under there and do the rear fittings first. If you can't reach them, grab the driveshaft and slowly rotate it. The truck will move slowly, and you'll get at the fittings. As long as the truck is not in 4WD, you can spin the front shaft at will and hit those fittings with ease. There are no other fittings.

I also keep wheel chocks a few feet from the front and rear of the vehicle - just in case. If you don't have a flexible grease gun extension - get one. It truly helps.

Andreas