that is entirely possible, they use the same suspension and hub, just no half shaft
when I was looking for rear springs, it seems there is about 5 different options depending on how the vehicle is optioned ( AC, Manual or auto, V6 4cyl, 15 or 16" wheels, and any combination of ) mine is SR5 15" wheel, Manual trans w/AC ( up fitted with 16" '02 Runner wheels )
I got the constant rate springs for a V6, 4wd, Auto with AC and 16" wheels. gave me 2"of lift over all and it now sits level. rear coils are stupid cheap @ $40 for the pair, fronts are as well, but it was easier and cheaper in the end ( time and $$$ ) to get loaded struts.
When I'm ready to beat this one on the trail, it'll get Cruiser coils and SAS