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I just built one for my stepdad to use on his 450SL Benz, I know it's not a 4runner but that top weighs at least 150lbs. Anyways I got a $25 cable winch from harbor freight, a couple big eye bolts from the home depot and made a frame out of pvc to hold the top and rigged it with some 3/8" rope, but the pvc flexed too much so I reinforced it by putting some electrical conduit inside the pvc. Works great, I'll try to get some pix for ya. We had searched around for a ready to use hoist but all I found was one for a Jeep hardtop and it was $300! So we made our own, I was inspired by a friend who made a hoist for his jeep hardtop.
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