Just checked my 1995 4WD 4Runner by calling. I am eligible. I must say, the phone part of this went well.

Toyota was going to forward my info to the "Customer Relations manager" at my local dealship and they should call me within 3 business days to schedule the work.

Too bad I just replaced my tie rod ends because they were too rusted to be adjusted! Could of gotten new tie rod ends free. Oh well.