You probably already know this, but a 4Runner is a TERRIBLE highway vehicle. It rides poorly, has terrible crash avoidance capability/top heavy, is loud, and gets utterly terrible MPGs compared to the competition.

The vinyl SofTex is very good and this is coming from a guy that has a late model, leather-clad BMW as his daily. I think SofTex is the ideal seating covering choice for a 4Runner. It's soft, pliable, very wear resistant, and very robust. Cloth would be a huge mistake.

The nav head unit is not a big deal at all. There's nothing complex about it. This tech has been around for 2+ decades now and you can buy aftermarket nav headunits for $500 these days. They are very reliable and no less reliable than a regular headunit. If it fails 7 years down the road, buy a used one for $200 and install it in 30 miniutes. My wife's 2020 TRD ORP has the nav headunit, but we never use the nav function for directions. It's fine. The speakers are total dog crap though, but it will probably be fine for you though.

Based on what you're looking for, I'd go with a no option SR5 Premium 4X4.