I don't know if you could find low rolling resistance (LRR) tires suitable for what you want in your 4Runner. It isn't a bad idea, but you say you do go off road once in a while. LRR probably won't shine off the pavement, and it can be quite a buzzkill to have to switch in a different set of wheels before you can go play.
Ecomodder member Christofoo built an ersatz
boattail box to ride in the hitch of his Honda. I don't remember how well it does at improving his mileage, but you can imagine that a well-designed box would permit you to carry gear outside the vehicle envelope without hitting you in the wallet at fuel fills.
What Ultarc had to offer about the belly pan is right on: there's a lot of daylight under a stock 4Runner, if yours is lifted at all (don't let yoyoyoda find out) there's even more, and a bellypan will probably pay much better dividends than a dam. If you don't ever scrape your underside on the trail then you won't have to worry about bits coming loose or being damaged.
You might want to seriously consider moving your spare up into the bed. That'll make the bellypan a lot easier, not to mention smoother.