If you keep the front CV's at reasonable angles, and go with the RCV's, you should be okay up there. The front wheel bearings should be fine too. Steering, maybe more of a problem. The biggest thing to keeping the front end alive will be to keep off the gas and make sure you aren't trying to hammer down while climbing/descending with the wheels fully turned
The one area that you need to consider is the rear wheel wells. Yes, there are Taco's running 37's, HOWEVER, a Taco bed is about 1000 times easier to trim out than the 4runner because of the wheel base difference/no cabin to worry about compromising. You may need to trim into the door, for example. The other alternative is to bumpstop the axle to keep the tire from coming up too high, but that will limit your travel.
I'm not saying it'll be impossible, but it could involve lots of work/body shop time.