If the car will not start, the most likely problem is worn or corroded solenoid contacts in the starter. Usually, these parts can be replaced without purchasing a new starter.
Car Problem Reports
Toyota 4Runner Car Won't Start Due to Worn/Corroded Solenoid Contacts in Starter
Toyota 4Runner Problem
Average Mileage: 146,891 mi (78,000 mi - 247,350 mi)
Same identical problem. Went 2 months after replacing ignition switch as recommended on another site. Worked great for those 2 months then fail to start went for 3 days. Then morning of 4th day of start failure we scheduled to have it towed... it started! Electric fine and all works except no cranking at all. Will work for a few days or weeks then not turn a crank. Then next day fine. Again all other electrical works including dash lights, radio, alarm and lights/wipers. Just wont crank.
Visitor, 2000 Toyota 4Runner, 150,000 mi
Dealer replaced the contacts, I did not need a new starter
Visitor, 2006 Toyota 4Runner, 78,000 mi
Only the problem for now; car has been working just fine. Then, when trying to start it this morning: NOTHING. No turn-over, not even a click. Lights all work, so battery seems fine, which likely means the alternator is alright as well. Going to check connections and STA fuse under hood, then likely have to get a new solenoid.
Visitor, 1998 Toyota 4Runner, 247,350 mi
Worn solenoid was replaced due to intermittent issues starting vehicle.