Different manufactuerers have different ways to comply with the car crash compatibility. Jeep's way is to place a crossmember low in the front and hide it behind a skidplate. Many Jeepers just cut this crossmember...i think that the one on the Wrangler is removeable too. 4runner's design may also enhance handling beyond the crash compatibility factor. The low front end design may improve crush zone effectiveness by allowing more of the front end to absorb the energy when the 4runner crashes into a Miata. With the Jeep design, the major forces are not dispersed as well maybe because only the lower crossmembers are in contact with the smaller vehicle?? Just my wild guesses. Jeep Grand Cherokee's crash testing results are far from spectacular...and unibodies usually crash test better than body-on-frame designs! Hopefully, the new Jeep GC will do better. 4runners have been near the top or at the top throughout recent history dating back to 1996.
The ONLY way a modern SUV can pass crash regulations AND have a balanced look is to have air/adjustable suspension systems. This way, the suspension would be low on-road and can be adjusted high for off-road use. But, of course, with air suspension, you have to deal with higher ownership costs and decrease reliability/durability. (Even Lexus air suspension systems are not without issues!)