Hopefully this helps. I just got home from Wheelin 4 Hope. That's a weekend of trail riding that benefits cancer research, $100.00 per person. I just bought my 2007 SR5 V6 3 months ago. I have never been off road other than some real bumpy dirt roads. This was a first for me. Out of the 200 vehicles there (they limit it to 200) I was the ONLY 4runner. Not only that but I was 99% stock. The only thing not stock were my P rated 265/70 17 Nitto Terra Grapplers. I aired down to 20lbs based on nothing but interweb advice(most of it from here). Then I went on to navigate every obstacle that the other 20 built Jeeps did. Granted, I was slower and did a lot of scraping.....But the bottom line is I did everything they did. There was a shit load of mud, in fact it was all muddy clay having just stormed the day before. I ran over tons of large rocks, countless fallen trees and did 3 stream crossings that included climbing a big ass rock face on the other side. I did it without stopping the guides said I walked it. At least half of the built Jeeps with bigger tires had to go up an down a few times before the got up. Bottom line is my P rated tires did awesome, no cuts, nicks, no damage except for some erasing/grinding off of the lettering on a couple tires

The stock 4runner was the center of attention, people were amazed that it did everything. So was I.