I use a cheap hitch protector in the hitch and that has saved the rear bumper several times. The breakover angle is the worst of the 4R angles. I am glad I have the full underbody 3/16.
The main point for me about the 6th vs 5th offroading is context.
2010: 4Runner killed it with 32" tires (you can get full 32" in 265 70 17 like mine), all the offroad tech, superb adventure design and reliability.
Nissan X-terra Pro-4X pretty much the same capability but less nice, smaller, and with some reliability issues with early models
JK Rubicon pre the powertrain upgrade was a toy and that is putting it mildly. And was a toy only later as well, though a better one. Still a joke outside of difficult 4x4 trails where it ruled.
2025: where do we begin? Surely, a 4Runner on 33" and moderate angles and a complex powertrain that is not exactly crazy efficient has a long ways to prove itself.
Finally, now there are plenty of used 5th gen TRD-OR available to serve as an offroading platform. No need to buy new for offroading specifically IMO. This was not really true 6-7 years ago.
Oh, and there is the Rivian R2 coming. The only thing I would not do in a Rivian is to drive through desert as I drive the 4R. I would fear it would fall apart, starting from the suspension

And our terrain in AZ really is for the kind of tires that don't work well on EV. But slower, scenic trails and generally non-Baja style trails? I would do those in a Rivian all day and using P-metric AT on non-hardcore UT or CO trails does not freak me out.