The negative terminal on all modern cars goes to the chassis of the car. If you do jump start the car, be certain to connect the positive terminal of the donor vehicle to the positive terminal of your 4Runner. Connect the negative terminal of the donor car to some point on the engine block, away from the battery.
If you are in to spending about $10, you can buy a terminal puller and wire terminal brush at an auto parts store. Disconnect the negative terminal first, then the positive terminal. When you have cleaned the connections, reconnect the positive termnal first and then connect the negative terminal.