The easy solution for the panhard bar is an eimkeith relocation kit, which is actually 1/3 the cost of an adjustable bar:
eimkeith.com
Takes around 5-10 minutes of welding and allows the factory bar to remain flat, which is better than an extended bar that is drooping, as the axle will remain more centered as it goes up and down. A drooping, extended bar would result in the axle moving more to the passenger side when the suspension extends downward than a flat bar.

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Good stuff for your Toyota. The original PCK® (Panhard Correction Kit) for 3rd, 4th, and 5th Gen 4Runners.

Takes around 5-10 minutes of welding and allows the factory bar to remain flat, which is better than an extended bar that is drooping, as the axle will remain more centered as it goes up and down. A drooping, extended bar would result in the axle moving more to the passenger side when the suspension extends downward than a flat bar.