This is true...unless you want to get a 4-cyl engine such as Subaru Outback which gets 24/30 mpg (city/hwy) with the 2.5L 4-cyl.
All of the above is true regarding SUVs, practicality, etc..
BUT, the bigger question is...do you REALLY need a 4runner for what you use it for? Sure, some on this forum off-road...and fewer use it as a towing machine. Good reason for a 4runner. But, in reality, what percentage of 4runner owners take it off-road (or tow frequently)? (This forum makeup is far from reality in that perspective.) Why do 4runners have 2wd models?
To be honest, that was why I got rid of the G500...and have stayed away from that type of SUV (low-range capable). FOR ME, having a G500 was useless. I don't tow...and if I ever did, then it is far easier to rent something to tow it. Home Depot charges $30/day i believe. And with a growing family and city life, getting to an off-road park is painful. My G500 became more of a garage watchdog than a vehicle that I have a use for. Yeah, it was cool to have one...but it just sat there in my garage collecting dust and maintenance costs. And I promised myself that I will never buy a car as a status symbol.
Nowadays, as a replacement, I look for vehicles that has good AWD with decent ground clearance (all-weather travels), practical (cargo space and room for carseats), and safe. Modern 4-cyl has become perfectly acceptable to me...maybe because Prius is my other car!

The newer 4-cyl are pretty nice and responsive. Fuel economy is important, not because of green crap, but because it hits my wallet directly. I will likely end up buying more Subaru Outback types than I will 4runner-types.