I have talked to some friends in Costa Rica.
They have the Fortuner there and the 4R as well

The fortuner is basically the Hilux Pick up made SUV.
Many parts of the Hilux are exchangeable. Including the hood.
looking it from the front you will have problems finding differences between both.

Yes it does have rear brakes and It has a shorter wheelbase than the 4R.
The engines are smaller and they have a couple options in diesels also. The 4R only has the 4.0l gas or the 3.0l TDI. No V8 available to either.

The fortuner does not have to meet the requirements of USA in terms of height of bumper and It has a higher front clearance.

Think of the fortuner as the little tough brother of the 4R.

And it is not a wussy Rav or higlander... it may even beat the 4R in terms of tough construction.