I had a long post with a complete shakedown from my perspective of the 4th gen runner in its stock configuration for off road use, but my POS computer at home gave me the blue screen of death before I could post it. I'll try to recreate the post from what I remember...
The purpose of this trip was for MikeWhoTroung to get a feel for the overlanding experience and the techniques / gear required for safe travel. My friend Scott and I accompanied the Troungs in my vehicle, acting as guides and support... at least that's my best effort at making a fun trip sound like work!
So... my observations and suggestions pertaining to the capabilities of the 4th gen:
Rear articulation was relatively poor when compared to previous generation 4runners, although front articulation seemed on par with the articulation of the 3rd gen... which make sense given thier similar construction. Recommendation = Heavier duty suspension with longer coils, such as toytech or OME.
Clearance. I was not impressed with the lack of clearance of the 4th gen. It had some low hanging areas, particularly in the front, which did have rudimentary protection from the factory. However, my experience has taught me that these factory skid plates are only good for one good smack, after which they are mangled and useless. Recommendation = Lift. 2-3 inch suspension lift coupled with Budbuilt skids would go a long way towards making this rig impervious to rock attacks.
I was impressed with the power displayed by the 4th gen. It is still a gas engine, unfortunately, and was difficult to control in low traction conditions, causing wheel spin. Wheel spin endangers drivetrain components and tears up the trails. It should be avoided wherever possible. Recommendation = A rear differential locker to properly harness the power of this beefy V6. My personal preference has always been for ARB, but Eaton also makes an elocker. There are also many options for auto lockers... which have worse road manners, but still offer the same performance off road.
Tires. Stock tires on Mike's truck had two ply sidewalls... which did not hold up. The one thing that you want to be free of while driving far from civilization is worry, and I fear Mike was worried for the rest of the trip following the flat, as he was one more flat tire away from a PITA situation. The other issue was traction. The stock tires also provide poor traction, which would have been a problem had conditions been wet. Recommendation = Three ply sidewall true A/T or M/T tires. Heavier duty sidewalls allow a relatively worry free situation, even when aired down. Lets remember that airing down IS the single biggest improvement to traction you can make. This goes hand in hand woth on board air... a requirement for anyone who is serious about operating their vehicle off road.
Battery. Mike's battery ran down during the night, which was no big deal... easy to jump start. However, in an unsupported situation, this could have been counted as a critical failure. I installed a battery monitor device early in the modification process (then later installed my dual battery setup, etc.). Recommendation = Battery Brain Gold or Utility model. It will automatically disconnect the battery from the truck if the voltage dips below 10.8V... always leaving enough juice to start the truck.
This post is getting long... but I figured I would share my observations for Mike with the rest of y'all... who knows? It might help somebody!