First thing is make sure the timing is set correctly, then you got an idle adjust on the throttle body. it is the large screw towards the front. How I adjusted mine, i would make sure the engine is warmed up, then proceed to turn onlights, AC and put blower on high, then adjust the idle until you are at about 800 rpms. This makes sure when you are at a stop with any of the accessories on then you wont stall out.
My old 4runner had a low idle at times and i never figured it out, it never quit, but every so often after it was warmed up it would go a little low. After i did this it got rid of any worry of low idle for me.