IMO the fortuner is closest to the Prado. Looks way more like a truck than a Highlander.I agree with you on the need for better gas mileage for the 6th Gen. However, I hope Toyota doesn't make the 4Runner any smaller, and I would not want to see all models being equipped w/ full time 4WD. I like having the ability to decide when I want to engage 4WD. I've owned several 4WD vehicles and unless the conditions are really bad or I've decided to go off-road, I don't use it. 2WD w/ traction control is adequate.
I know you like the 4Runner, but based on your wants and requirements for a vehicle maybe the 4Runner isn't the vehicle for you. Probably going to get flamed here, but have you thought about the Murano, Infiniti FX or the Subaru Outback?
Also, I agree w/ NoDak, even though the Fortuner is built on the Hilux chasis, it looks more like a Highlander than a 4Runner.
Also, I wont flame you for suggesting those vehicles. But dont forget, I want to go on the beach and over some dirt trails and other non-rock-crawley off road situations. While the Murano is bigger and faster than my Rogue, it has about an inch less ground clearance believe it or not (the Rogue is 8.3") and will not be ideal for the sand.
I dont think there is anything unreasonable in wanting the newer 4Runner to be faster and more nimble... Older Pathfinders used to get praised for their agility for their size, and for that matter, so did 4th gen 4runners... And I read that the 3rd gen 4Runner was the best handling vehicle in its class. Its definitely something Toyota can do.