Both my windows need lots of help when being rolled down primarily the driver side rolling up is ok but still only work half way through the rotation. I googled it and can't seem to find a diy guide for removing the door panel to see if I can fix it. Looks like it may just be unscrewing ad taking it off though.

 

You unscrew the door handle and armrest. I'm assuming you have a crank window? Use a rag or thin plastic to saw at the crank and a U shaped clip will ease out. The door panel is held on by clips in the door. Use a flat screwdriver or a plastic putty knife to pop the clips.

There is a Factory Service Manual you can download at:

http://www.ncttora.com/fsm/index.html

It's on page 1249 of the Factory Manual

 

Your regulator probably has worn out teeth. Replacement is inexpensive. Search Amazon,com for "4runner window regulator". Make sure you pick the one for your truck; Year? Passenger or driver side? With or without vent window (triangular window in forward of roll-up one)?

FSM has procedure.

On 1st gen with manual window, door panel fasteners merely pop out. All you need are:
1) Rag mentioned above to remove clip,
2) Philips screwdriver, and a
3) 10-mm socket-rachet combo.
4) All-purpose grease to lubricate regulator.
5) Tape to hold window panel out of the way while you work.

Regulator mounts with 3 screws. It attaches to glass with two screws similar to above.

I just replaced my driver side last night. Only took about an hour. First-gens are so sweet to work on! They make us less dependent on the stealerships.

 

If the gears or something is broken, you will need to do what is already suggested. If it is just being difficult, try using this in your window tracks. It will work great.