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I was looking up online your symptoms and found this forum link.
https://www.ttora.com/forum/18-pickup-early-4runner-tech/53048-fix-22re-hesitation-found.htmlHis main issue was the O2 sensor. Since your O2 Sensor code keeps popping up again it is likely other than the sensor there could be a problem with the wirings. It might be worth checking that out.
So, looks like he found the no start issue. I personally stopped jump starting any car after my 2005 Kia Sorento got a short after jumping a car which was a pain to track down too.
Along with this it might be a good idea to fix the oil leak issue too if not the misfire will gradually come again.
Yes, almost all the power steering systems use ATF. As long you use the recommended ATF there will be no problem.
Cranking with no start is not usually a single cylinder ignition issue. I bet there is a fault with some sensor. If you have access to an OBD tool it would worth checking for codes. As it will help save a lot of time and money.
It might just be the belt itself slipping. Check if the belt is worn and if it uses an automatic tensioner then check the tensioner too. If it has a manual tensioner then adjust the tensioner.
Did you replace the alternator or battery lately? I have usually seen this happen with remanufactured alternator units.
Is the alternator light fully bright or is it dim?
Even the transmission fluid change here is at 40,000KMs for most vehicles but in the US it says change only if driven in extreme conditions.
Just guessing I hope you don’t have any kinked fuel line though it builds pressure gradually but when there is a sudden need of power the pressure drops.
Did you drive it after the problem began? Any problems in the driveability?
It would be easier to diagnose with that Check engine code.
It is possible that in my friend’s Pilot they have only mentioned for the extreme conditions as we are in the middle east and every country in this region exceeds the extreme conditions.
There is a possibility that it is more than one problem here. Usually, a bouncy car is due to weak struts or shock absorbers. Clunking noise could be because of worn out bushings. If the clunking is happening while engaging reverse then it could be the engine or transmission mounts.
It might be a good idea to just check with an OBD tool for codes though there is no Check Engine light. At times there will be a code stored in the ECU but it won’t trigger the CEL as the problem seems solved for the ECU.