I think I'm going to look into one of those Curt hitches, sounds about like what I'm looking for.
My 4runner doesn't have a factory hitch, hence my need for one. My Tacoma didn't have a receiver hitch either, but did have a 3500lb rated step bumper that I used for towing. With out any lift and 29" tires I was dragging the rear bumper all the time off road. I'm already better off than I was with the taller stance of my 4runner, but don't want to lose any more departure angle than I have to.
Currently I'm running with the sway bars disconnected but need to figure a way to have semi-quick disconnects. I hauled a good load on it today (about 840lbs )and there's more body roll than I like. I'm thinking maybe just some wing nuts on the sway bar links would be a cheap and easy setup to disconnect them off road. I have yet to see any 4runner sway bar disconnects that really impress me. Rears are no problem, just 8mm coarse thread, but the fronts are 10mm fine thread. I might have to check Fastenal, Lowes only had coarse thread wing nuts.