I've never had only the Peerless connected by themselves, but I am able to have all the door speakers front & rear able to play without the sub. The HU lets me turn off the sub channel.
The Peerless have a nice kick to them and if you're not looking for big bass, could be run in place of a sub in the right enclosure. Since I've not heard just the rear doors (Peerless) though, I don't know how much of the bass kick is coming from just them since my front mids do a great job with midbass as well.
One thing to remember though. A big part of getting any system to sound great is in the preparation of the cabin. I've extensively deadened, insulated, foamed, siliconed, and stuffed all the panels and nooks of my cabin along with padding all the hidden wire looms/runs throughout under all the plastic trim. At one point, I had the entire interior out all the way down to sheetmetal.
I only say this as a disclaimer. I can tell you that my front components sound awesome and have a very nice midbass kick, but much of that is attributed to the treatments I've done to the doors themselves, so there is no way to guarantee you will hear the same results unless you do the same in yours. Not to mention, the difference between 3rd gen & 4th gen doors will also play into it since they are undoubtedly different interior volumes and structured a bit different.
In my build thread here:
http://www.toyota-4runner.org/gallery/87160-offroader5s-runner-thread.html. You can see the process I went through in the cabin treatment....and these photos don't even show a lot of the things.