The bad news is I doubt you can suck out the broken bits. The good news is you don't really need to remove the fender, just a few of those plastic fender liner clips. Check out the below threads...
http://www.yotatech.com/showthread.php?t=79426
http://www.yotatech.com/showthread.php?t=87721
The below is for the whip mod, but steps 1-4 set out how to get to the power antenna motor.
http://www.4runners.org/articles/whip/
In all, it should take you longer to go out and buy the replacement antenna mast than to open up the motor and fish out the broken bits.
Good Luck-
-Scubaduck