I replaced my OEM shocks with 4Runner shocks (48530-80372) over a year ago. The rear shock actuators have been unplugged since then and I have not seen any error lights on the dash. If I scan for codes in the suspension control ECU I can see that the rear actuators are disconnected, but like I said no visible error lights.
That said, the ride is still terrible. Slightly better than the dead OEM shocks but still bad. Other stuff I tried: I replaced the rear airbags and saw no improvement, turns out the old ones were still ok at 150k miles. Adjusting the rear ride height sensors for a very slight lift (+1/2" or so) made the ride a bit better but I would rather have the stock height. Greasing the slipjoint in the rear driveshaft actually seemed to have improve the ride slightly. Also, I think a shorter bump stop would help, since the stock one only allows 1" of travel, but then if an airbag blows out suddenly there is nothing to hold the rear end up, not a great option; I haven't tried it but I hear they do it in Australia.
So I am in the same situation as you, would like stock lift and stock ride but not sure how to go about it at reasonable cost. I was actually considering replacing the oil in all four OEM shocks but that idea has not been met with much enthusiasm.