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I don't know specifically what the owners manual tells you or about an 06 4Runner but traditionally speaking you would stay away from overdrive.
I don't know if your vehicle has a tow mode but I assume there is a gear selection/mode that will boost oil pressure in the transmission to the clutch packs making it more difficult to slip and thus generate heat.
I assume you have a transmission oil temperature indicator which can help in managing how hard you are working the tranmission.
thats my 2 cents
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-girlfriends 84 BJ60 & 82 BJ60 donor vehicle,SOA,ARB
-96 SR5 4-runner, 2.7L auto, rear diff lock, ARB BullBar,
-99 SR5 4-runner 3.4L auto, DD
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