Years ago, a group of us went over to Silver Lake State Park, along Lake Michigan. For those of you who haven't been, it's worth the trip in the summer. Check out the vids on YouTube. At any rate, it's an off-road park, all sand dunes, beaches, etc. Fantastic off-road machines come there to play.
So, the 4Runner was bone stock, with the factory street tires on it. I've never been, didn't know how to drive on the dunes, at all. Didn't know the pathways, how to get from point A to point B. A friend of a friend who lives up there has a nice Jeep Wrangler modified specifically for the sand decides to help me by driving me around in my 4Runner. He gets in, starts driving us around, up and down the dunes, showing me how to use the 4-wheel drive system...nice guy, but the first thing he says is, "Wow, this thing drives nice,...real nice. This is effortless. I wish my Jeep was like this." So, I don't know if he was just being nice, or he really was honest, but I've been up there playing several more times and have had a great time. The point being, there may be some key differences that make even a stock 4Runner a great off-road vehicle.