Are you so sure about that? Maybe compared to a new Prius C then sure. But an average new sedan? Idk. The small overlap crash test already devours the 5th gen. If the body doesn't crumple then it is you that is taking the shock.
I'm definitely going off a bit of hearsay and anecdotes, not real crash data. (I doubt there'd be an official comparison of a 90s trucks and new vehicles, and I'm too lazy to look).
I don't think anyone who's posted on this site about being in a wreck in their 3rd Gen T4R had more than a bit of whiplash (and there have been some BAD wrecks, including rollovers). I also hang out at junkyards a lot and have noticed that the 4Runners (and other 90s trucks) seem to maintain their overall structure a whole lot better in wrecks, resulting in a less-penetrated cabin.
I feel like there's a sliding scale of how useful crumple zones are compared to how bad the wreck is; and it's biased towards passenger safety (as it probably should be), not vehicle integrity. A 3rd Gen 4Runner passenger might feel a wreck vs the passenger of a newer car, but the 4Runner is more likely to drive away intact, more or less, than the newer car, because of new-car crumple zones. So it's technically safer for the newer car passenger. (no whip lash, possible face planting of steering wheel, etc).
However, if it's not that bad of a wreck (no injury, just annoyance), the 4Runner comes out on top. The new car is destroyed, possibly totaled, and the 4Runner just needs a bumper. This happens far more often, to be honest (3 times for me, and counting). A whole lot less of a hassle to go junkyard hopping for a new bumper in my free time over the next few weeks than to have to file an insurance claim, rental car, higher premium, etc.
I also feel like in bad enough wrecks, crumple zones don't matter much. It appears to me that, impact shock aside, if the vehicle crumples less overall (and the seat belts and airbags work properly) it's better for the passenger. I mean, I'd rather be in a tank and feel the crash jar my bones and have some whiplash than be in a tin can and wind up with the other car in my lap. I probably wouldn't have a lap at that point.
You're probably dead either way in a head on at highways speeds, crumple zones be damned.
So win-win for the 4Runner, IMO, except for in crashes with pretty specific requirements (angle, speed, what other kind of car you hit, road conditions, etc), which there is no realistic way to plan for. Best to have the tank and just pray.
This is completely opinion, of course. Probably an antiquated way of thinking that's been proven wrong, but hey.