I have found Toyota maintenance is typically done prematurely on parts that will eventually wear out while the typical Jeep maintenance is done on parts that have worn out prematurely.
This has been my experience as well, 100%.
OP, the 4Runner will be nearly as good as a JK in all aspects except two: It's off-the-lot rock crawling/intense 4x4 trail capability will be slightly less, and if you are buying used it will be a bit more expensive as Toyotas hold value. For Overlanding, either platform is excellent.
However, the fit and finish of most modern Toyotas is better than most JKs in terms of driver comfort, the payload is better, and they are significantly more reliable overall. This is not a statement based on anecdotes (though my own anecdotes and
@KonzaLander's experience are similar), but on numbers. If a person looks at a thousand JKs and a thousand 4Runners, a greater portion of the JKs will have had more trips to the dealership for repair. That doesn't mean all Toyotas are perfect or that all Jeeps are crap, just as far as probabilities go you are more likely to land on a trouble free Toyota than you are to land on a trouble free JK.
I'd buy another jeep in a heartbeat because I love them, but for your stated needs I'd suggest if you are replacing, Toyota would be a better bet from the "wanting to not have to wrench on weekends" perspective.
Now, here's another curveball for you:
Vehicle Reliability can cover a
lot of areas, so what areas are you most concerned about in your current GC?
If you are worried about things like wheel bearings, axles, etc. you can replace the entire system for a few thousand bucks.
If you are worried about your motor going sideways, you could look at a Cummins swap for $10k.
If you are worried about the electronics and creature comforts going on the fritz...set the damn thing on fire because that's the only way to kill those gremlins.
In other words, you may be able to make what you
have into what you want for cheaper than buying what you want new/gently used, and if nothing else this might be worth exploring first as an idea because then if you DO buy new/used, you'll know that you exhausted every option first. This path is not for the faint of heart, though, and you really have to enjoy the process to see any real savings, otherwise your time and energy that you'd put into this is probably going to make it very spendy overall. You would get 'pride of ownership', but that may not be of high value to you. That being said, you can also get 'pride of ownership' in the same way from a new rig too (We do, when we replaced our jeep with the used little truck).