I believe they do, most EFI systems do - I'll check the parts catalog in the morning and confirm - would have been known as the MAP (manifold absolute pressure) sensor.
Although the MAP sensor is intended to measure the pressure (or actually vacuum - lack of pressure) in the manifold so that the load on the engine can be estimated, the ECU will determine atmospheric pressure (and therefore altitude), from the MAP when the EFI system powers up, before the engine is started.
Edit...
Yes, the Trackkicks do - the TBI systems used on the 8v engines have a sensor very similar to that used on the Samurais, (which, by the way, the parts manual does not show as a cylindrical canister), the MPI systems used on the 16v engines have the MAP sensor on the manifold.