In 3d most animals have their fingers and toes arranged across a line. In 4d because of the extra dimension organisms would need to have their fingers and toes arranged along a plane. 4d toes would still need to be linear however because if they were planar they would be stuck together and unable to spread out to support the organisms weight. Just as in 3d the line that toes are arranged along is curved in 4d the plane that toes would be arranged along would also be curved as that would make it easier for the toes to spread out to support the organisms weight. For the plane the toes would be arranged along the more sides the better as the more sides it would have the easier it would be for the toes to spread out to support the organisms weight. Many 4d organisms might have 19 toes all arranged into a hexagon with three layers of toes. The 1st layer would be the central toe the 2d layer would have 6 toes and the 3d layer would have 12 toes.
4d hands would probably still only need 2 sets of fingers to get a good grip. The main set would probably have the same number of fingers as the number of toes a 4d foot would have with the same basic arrangement as that would allow the fingers on it to spread out and surround things better. The other set would just be the thumb that would be able to move independently of the main set so that it could move under the main set to allow the hand to get a better grip on a 4d object just as our 3d thumb allows us to get a better grip on 3d objects.