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The biggest difference between the 4Runner and the GX is the seats and the relationship of the seat to the floorline. Take both vehicles home before you make a final decision. Drive both for a day each with plenty of seat/ride time. You will notice that with a 4Runner your knees will typically sit higher above your hips than in the Lexus. This is due to the higher floor. The Lexus seat is higher off the floor letting your feet and legs fall lower to the floor thus creating less strain on your hip and back.
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I agree with 100%. Take a long drive with both 4R and GX and you would find GX is much more comfortable and less stress than 4R.