Hello,
I have a '90 4Runner ( 6 cyl/4wheel drive )with 220K on it and compression is good. I replaced the head gaskets at about 100K just to be on the safe side. They tend to blow at the back of the head where there is only about a
1/4 inch of mating surface between block and head.
I have an auto tranny and get about 16 to 18 mpg, depending on driving conditions/time of year.
IMO, the V6 is a bitch to work on. The oil filter is in a poor location, the PCV valve is difficult to service, timing belt replacement is a major operation, as is injector replacement, and valve adjustment is a PITA, just to name a few. Most of the sensors you might need to replace are stuck behind the intake at the back of the block. The 22R/RE engines are much easier to service/repair. They are very simple and straight forward to rebuild. Valve adjustment is much easier, especially with no shims to contend with.
opinions will vary, jk
BTW, check the lower control arm alignment bolts, If they are frozen up, you cannot align the front end. You will end up replacing the entire lower control arm in most cases, as it is very difficult to replace the bushings without damaging the control arm.