When talking bolts of the high grade they likely are, it is not so much as the bolts getting loose as it is the metal parts they are holding together being much less hard and subject to "squishing" under load and stress, thereby relieving some of the torque on the bolts. Torque them.
Woody
I would bet a nice bottle of whisky that short of welding the wheels to the ground there's no way that 4Runner has the torque to appreciably squish the holes in those flanges.
It's not the engine torque that's the problem.
We torque bolts in order to slightly stretch the metal -- within its limits of elasticity -- to generate clamping force between the parts. What CC's quote refers to is that if the bolts are significantly harder than the metal of the flange they're screwed into, the flange may deform more than the threads on the bolts, which could result in loosening up over time and use.
That said -- I have never heard of period retorquing of driveshaft bolts, even flanges.
I would be more worried about the result of doing it. Years ago, I was active in a car club that hosted autocrosses, and many of our members also participated in a state-wide series comprised of events hosted by several clubs around the state (including ours). One of our members had a habit of giving the lugnuts on his car a check before each event, just to be sure they were tight. By the end of the season, he had literally (yes, I mean "literally") pulled the lugnuts right through the holes in the wheels.
If it ain't broke -- don't fix it.