I recently got a 2021 4Runner Venture, and I’ve taken it on a 3 week trip to Idaho and Wyoming (from CA). Overall, I’m very happy with it, and I’m excited to build it out.
It’s very capable off road in stock form and the vast aftermarket support makes it an excellent Overlanding platform, which is why I picked it. If you go with the 4Runner, I don’t think you will be disappointed. There is strong demand for used 4Runners too, so if you end up changing your mind you could probably unload it with no difficulty and minimal depreciation.
On-road, however, it is merely adequate. Its big weakness is the transmission. It is practically antique and objectively terrible. Slow shifts, hunting for gears, all the things I hate about automatics. Modern ATs, like the 10-speed in the Bronco, are almost magical in comparison. This is less of an issue at slow speeds and off road, but on the highway, especially on hills when heavily loaded, I definitely notice, and wish it was better. This may or may not be important to you, but it’s something to consider.
Kris