About 6 months ago I had the same reading, had a compression test done & I had poor compression on cylinder 3 had the head resurfaced and all new belts and spark plugs done along with having fuel injectors and throttle body cleaned. Ever sine the truck has been running fine, until just 2 weeks ago and the check engine light came back on with cylinder 3 misfire.
Engine light on with cylinder 3 misfire. on 1996 Toyota 4Runner
CK COMPRESSION AND FOR SPARK