Highway steering-wheel shimmy at 55–68 mphmoderate
The single loudest owner complaint of this year, and the generation: a steering-wheel shimmy or vibration that shows up around 55–68 mph, often described as violent, with owners road-force balancing repeatedly to no lasting fix and dealers calling it 'a characteristic of the vehicle' or 'harmonics.' Toyota issued tech tips (for 2019 cars with the factory Dunlop Grandtrek AT20 P265/70R17 tires) prescribing road-force balancing, and mechanics say much of it is inherent to a body-on-frame truck running aggressive all-terrain tires — improved most by better tires and a proper road-force balance. Some cases trace to a front-differential needle bearing. It's real, and it's a test-drive item, but it is not a safety defect and not an engine or transmission problem.
Sources: NHTSA complaint database, 2019 4Runner · NHTSA recalls and manufacturer communications (recall 20V-682; shimmy/tire and front-differential TSBs) · Independent mechanic/owner channel transcripts (5th-gen 4Runner, incl. Car Care Nut)
tire-shop pricing
Road-force balance / better tires