I have yet to take the 4 runner on something the raptor won't get through. There have been tons of Raptor runs through the tight trails and passes in CO. Everyone has to do Austin Powers turns but the trucks still make it.
I live in the southeast and we have plenty of tight trails, mud, and rocks. I'm out offroad at least one weekend a month, sometimes more depending on work. The Raptor gets a bad rap for being extremely wide and tall but when you look at a decently modified 4 runner you aren't really giving up much of that space. That being said, I'm not afraid of pinstriping. Neither one is a great rock crawler but I'd tip my hat to the 4 runner if built appropriately for rock crawling due to the shorter wheelbase. The length of a crew cab truck will always work against you for anything other than high-speed desert stuff. That's just the reality of any vehicle that's not a Jeep though.
The biggest capability increase for the Raptor is the suspension, even in stock form. When you're already sitting on 35's, with a bunch of articulation, from the factory you can easily roll over things smaller vehicle have to crawl through.
I'm not trashing the 4 runners here but the two vehicles are apples and oranges. I don't live in a city so in every respect the Raptor wins for me. When I drive to cities with tiny parking spaces or parking garages, I prefer a small car. If I'm cruising on the highway the bigger far more comfortable car wins. I think Lawndarts biggest problem with a Raptor would be his parking garage. I'm not sure of his ceiling height but that's my biggest parking problem with the truck. I do have a roof rack on my Raptor though, which is a pain in the ass to fit in places.