I've had good luck with for F series trucks over past 15 years. I bought a 2009 F150 which I use to tow my travel trailer camper and other toys.
I also have an F250 with 105,000 miles on it, I use for work. It's very well maintained and I've only had a couple of problems with it. This vehicle is driven hard and I tow often with it. The only thing I've had to replace is the Alternator, Speed sensor, battery and tires. Other than that it's been rock solid.
I think as long as you do proper maintenance, you should have no problem with a Ford truck. This is probably true with any vehicle, but my personal experience is with Ford and Toyota.
That being said, if your towing under 5000# go for the 4runner, my wife uses ours(2011 Limited) just as a daily driver. Once and a while we'll use it to tow our 4wheelers (under 3000#) and it tows them fine.