I have owned several Jeeps over the years, and also rented them a couple of times. I now have a 4Runner. My experience is that the 4Runner can do everything a Jeep can do (unmodified of course).
The real beauty of the 4Runner is it is so much smoother ride in really bad off road situations; the Wrangler, in particular, is really brutal in what it does to your body.
I have an SR5 (no KDSS) and only a leveling kit (Rough Country, 3" front, 1" rear) and KO2 tires and have no problems with most off road trails.
You speak of only having a challenge on the Seven Mile Rim trail. May I suggest Mineral Creek just south of Ouray next time you are in that area.
Forgot a couple of things:
I am very tall (6'4") and have no head room problems with the sun roof.
I also have the RCI full skid plate package. Just got it last spring, so spent several years with only the TRD front skid. Never had a problem except once I put a big dent in the TRD front skid (on Mineral Creek, no less). Ripped off one of the TRD letters, but replacements are available.
My son talked me into the third row seat, glad I did. The Grandkids love it back there. That is not an option of the Off Road or TRD, but something to consider if one has Grandkids.