NO…The 4-runner is still Body on Frame…The Avalon is built on the Camry platform…along with the Lexus ES-350…and the highlander…But the 4runner/Tundra and FJ all share the same body on frame platform.
Some SUV’s like the Grand Cherokee is a unibody. Nissan’s pathfinder was body on frame then in 96 went to unibody…then in 01 or 02 went back to body on frame.
I will admit that many of the cross-overs and smaller SUV’s are unibody…