For starters, obviously most 4WD vehicles are going to better off-road than even a 4runner that is only 2WD and even some AWD vehicles are going to be undoubtedly better as well, but....
How do you think a 2WD 4runner with 31" A/T tires and a 2" lift will fare off-road compared to stock AWD...
I have this hitch lock and it is awesome. Still would probably have to put key in RF blocker material or bag and then put in the hitch key lock. If you have a larger sized hitch then the HS7000T may not fit, then another option is:
Amazon.com: Master Lock 1467DAT Chrome Steel Trailer Hitch...