Yeah, you do need a long extension or combination of many and a universal to get the angle you need (for the top bellhousing to engine bolts). Also, on the truck that I just did this job to, I found it helpful to have a buddy under the hood looking down the firewall to help guide you on the upper bolts which are really hard to see from down below. You want to make sure you're all the way seated on the bolt head so as not to mess it up when you go crankin on it.

"4X4 in upper case is $X$" Quoted from http://4crawler.com/4Runner.shtml
'00 tacoma 4WD---Sold to Toyota
'93 pickup 2WD
'85 pickup 4WD