I bought a second hand land crusier 120, known in US as the lexus 470 i think.So far, bone stock I did 2 pretty long trips, an off road tour of the Pirinei mountains 1200 km off road, from Mediterana to Atlantic and an off road tour of Albania, Montenegro and North Macedonia. Some pretty rough off roading included, I have mild AT tyres ( some Yokohama Geolanders) . The mods I have are for traveling, not modifications of the vehicle, meaning an auxiliary battery to power the fridge, 2 roof bars to put the RTT on. I don't understand people who pland to have an RTT but get 1000 USD roof rack instead of a couple of roof bars.. but that is another story. For a year I had a normal ground tent but becouse it was too much work for me I went for a hardshell RTT. But you will do fine with a ground tent.
The car had factory engine skidd plate, pretty thin , got used a lot, I will replace it with a more resilient one.
I might replace the stock suspension becouse it is on its last leg, the car has about 300k km , 186k miles on it. Since it is the top trim with the TEMS shocks with air bags in the back, it is very expensive ( Only toyota OEM parts ) so I will go for a mild lift kit, and loaded I will probably have the same clearence as the OEM suspension wich is selfleveling in the back.
The tyre size is stock and will remain so. Oversize lifts and tyres look cool ? sure. Would I take it across Africa ? never.
Any modification you will do to the car will reflect badly on the reliability. so unless you really have to, avoid it. I met with many real Overlanders, not "holiday warriors" like me, (i do maybe 2 long trips per year minimum 14 days each ), famillies doing long trips across Asia, Africa, minimum 6 months,, all of them went back as close to stock as they could, after many bad experiences with oversized wheels and tyres specially. They did not have blogs or youtube channels to share their experience with the insane lifts and tyre sizes I see arround :) .
Also keep in mind that weight is enemy number 1. It will increase the fuel consumption, reduce the performance off road and will stress the vehicle so it will be less reliable.
Draw systems are cool, but most are heavy. So you have to ask yourself, are they worth it for someone who does maybe 2 long trips / year and a number of short trips over the week-end ? Your in a holiday..there is no deadline, so what if it takes an extra 5 min to setup your cooking stove ?
A shovel and some maxtrax will get you out of anything except getting bogged in a river crossing.
This is a picture of Barbara Toy, in her land rover series 1, SOLO trip from Gibraltar to Bagdhad and back to London in 1950 .
So my conclusion.. some good tyres and a skid plate , - your good to go arround the world.