I'm having the same problem if anyone can answer.. I have a bad wheel barring and the back all of a sudden locked up and you can hear the gears griding when you try and move it.. my mom's boyfriend said I need a new rear end.. is there anything else it could be where I didn't have to buy an entire rear end?
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Sorry this isn't the answer but a comment.
I remember from somewhere that the 4Runner has a senser that will normaly engage the locks if the car is in need of extra traction.
If this is so, you might want to look into fix/replacing the senser unit/controller. But first try ungluging the wires to the RR lock switch as this might be faulty.
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