Did my T-100 last week-end. Same set up as you 4runner.
If I did it again I would knock out the studs in the flange this would make it a million times easier.Can be done without doing this but its alot more difficult IMO.If you dont want to knock them out it can be done. I did mine with the tires on sitting on the ground. Had to take loose the shock to get the axle past it, but it will come out.