I use flat straps with click snaps to secure them. Usually I get them on line from surplus sites like Sportsmans Guide. (https://www.sportsmansguide.com/productlist?k=straps) third one is almost 5 feet long.
Without tie down points almost any strap system is rather useless. How one attaches the tie down points can be challenging. Although many newer vehicles come with them or at least a place where they can be bolted in.
Your 4Runner should be equipped with points.
I tried bungie straps but there is too much give in them to make them safe for off road.
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