I got it fixed, the 4th place I went to did the lube for me: I knew my model had them since I saw this post:
http://www.4runners.org/writeups/zerk/index.html
not only did my 4Runner needed the lube, it also had no sway bar links - they were gone(I bought this truck on Monday)! Final damages were $13 for lube and $123 for the links(installed) it now runs like a champ!

 

Sorry Baja, didn't see the bottom of your post, that link was very useful.
I paid to get it done since it was only $13, it would have been over $30 if I did it, I don't even own a grease gun. If I had the tools I would have also done the links myself as well - time to invest in some good tools...

 

Ok, UPDATE!

I went back and squeezed a ton of grease in all the u-joints, and slip yolk. And, no more clunk/bump when coming from and to a stop.

 

*Bows*

Glad I could help.

Now if I could just find time to diagnose my problem. I'm starting to get a clunk during the 2-1 shift (auto trans) when coming to a stop. I don't think it's the slip joint, I think my double cardan joint is on the fritz.

Dan