Can we change our car suspension shock absorbers to more comfortable ones ?

color is not an indicator of anything but branding. KYB are are white and red, KONI are yellow and so forth.

shocks alone will help, but to get serious difference you need shocks and springs. The 'recoil rate' and 'stiffness' of the spring are your main numbers.
so, to get softer effect, you need a spring which has lesser 'stiffness' and faster recoil rate.

Start with the basics, your tire. make sure the tire pressure is exactly like factory recommendation (found in your manual or on a label on the side of the driver door). then reduce all the tire pressure by 2 psi. so if the recommendation is 29 front, 32 back (like land cruiser) then reduce to 27 front, 30 back. check if this helps and it should. your tires will squeesh more (make more noise) and probably wear out earlier but the drop in pressure is not high enough to cause danger from over heating or softness.

After that, consider changing to 'adjustable' shocks. KONI for example make shocks with 5 settings. so when you are driving around town, you set it to soft +5, when you are off roading you set it to medium +3, and when you need to speed you set it to hard +1.
again, the biggest gain will be from a set of shocks and springs together.
Unfortunatly the 4runner is one of the least modified cars in the world and you will find difficulty going softer but you will find many products of heavy duty off road.

Can you post more info about the car so I can perhaps recommend something for you?
Model Year:
Millage:
Current tire size:
Engine size:
How many people on average are in the car on daily basis?

Let me know.

If you make it more 'comfortable', you reduce performance.

Thanks Aminec !! That was a good answer !!

Car Model :2009
Mileage :22000 KM
Make : Toyota Fortuner GX
Engine : 2.7L VVTi
Daily 2 persons
Weekends 4 to 5 travel

I am expecting your answer !!