I bought a 4Runner in 2007 for $22,500. The sticker on it said $32,000. Took 2 weeks of negotiation, and high gas prices at the time really helped ($5/gallon).
I would be surprised if someone was able to find one under $40k nowadays (maybe after COVID). You typically have to order them and wait a couple months to get it if you prefer any certain colors or trims.