For me, it's an odd vehicle. Not bad, just a little hard to understand the marketing team's choices for it. It's street oriented based on the small tires and 20" wheels and the low hanging plastics. But the chassis isn't really the ideal choice for that target use when you have a highlander in the stable that is almost universally better for highway duty. And it doesn't come with some of the things that I think would make it a lot more compelling. KDSS and a V8/Turbo6. If it had the 4.6 v8 and KDSS no one would think twice about it justifying the price or its fit in the lineup.
If my wife were buying a 4R, it's the one she'd go for. And I think it would serve very well as an all around SUV. When I was shopping for mine, if it had KDSS I likely would have gone for the Limited for the nicer interior and then cut up the plastics as needed. KDSS is the biggest odd choice to me, yeah it adds a few inches of articulation - but it's biggest benefit is on the highway. Seems like a natural fit for the Limited trim.