No experience with this company, but they show an option for the 6G 4R in the model list. It's the first I've seen so far. I'd like to eventually add something like this to my SR5, but will wait until there are some actual use cases out there.
https://www.autoease.com/product/liftgate/
Looks and sounds good, but titanium seems so pointless in this application. Maybe at some point they will make a stainless version to decrease that $800 price tag.
The 4Runner can store 2 sets of TPMS. Just follow the procedure in the owners manual, it's all done through the gauge cluster. Should take less than 5 minutes.