Here's the official Toyota chart showing which trims get the feature: "Front and Rear Parking Assist with Automatic Braking (PA w/AB) and Pedestrian Detection"
It's standard on Limited, Platinum, TRD Pro and Trailhunter trims. It's not available on SR5, TRD Sport Premium, TRD Off-Road, TRD Off-Road Premium.
I am a bit puzzled by this list. I have a TRD Sport non premium and my 4Runner came with Front and Rear Parking Assist with Automatic Braking (PA w/AB) * and Pedestrian Detection . I get the warning when I am too close to something in the front and rear as well as the Pedestrian warning while in a drive thru and people constantly walking in front and behind me. I have checked the window sticker and there is no mention of having this
The issue I am now having is I was rear ended a few months ago and just got my 4runner back and everything works except the front and rear parking sensors but I have no warning lights on the dash and everything appears to be plugged in. Before anyone asks yes I have 4 parking sensors on the front and back bumper. Starting to think that maybe this was added to mine by mistake when built? Even in settings there is an option for Parking Assist. Going to take it back to the body shop on Monday to tell them its not working and see if they can figure it out