There is an alternative way to open your garage door from your Toyota 4Runner without using Homelink, called Apple Carplay. Your Toyota 4Runner is certified by Apple to use Carplay.
CarPlay is a piece of software that allows your Apple iPhone to interface with your Toyota 4Runner's built-in entertainment and information system. CarPlay increases convenience and reduces distraction by putting commonly used apps, that would be necessary or especially useful while driving on your car's infotainment display. By doing so, CarPlay minimizes the need to actually handle your iPhone while driving.