Hi @dochuntr ,
Don’t know the vehicle but was wondering if there was a problem with the brake booster.
Here’s a link to the [https://cardiagn.com/1996-2002-4runner-brakes/|Brakes] section of the [https://cardiagn.com/toyota-4runner-1996-2002-repair-and-wiring-manuals-pdf/|Toyota 4Runner 1996-2002 Repair Manual (RM887U) and Wiring Manuals].
It shows how to test the brake booster for a low pedal condition.
Hopefully this is of some help