They are Goodyear Wrangler DuraTrac P265/70R17
With yours being a different generation I would check online to make sure they'd fit. No rubbing at all with mine, including while off road. Aside from just using the sizing guide on their site there will be info on 4Runner forums from people who have run them on your generation.
They are great tires if you go off pavement enough to make them worth the extra $ and weight/noise (I like the humm they make though). Had them over 2 years now and the tread wear is minimal, when the time comes I will be getting the same ones. Very noticeable difference climbing loose steeps out on the dirt compared to more street oriented "all terrain" tires.