Had a Camry for a few years (was an '89) and though reliable, there were always a few problems (e.g. starter).
I have a 2008 V8 4Runner with a little over 100,000 miles on it. I also drive the crap out of it averaging 32,000/year.
Obviously you won't have the same gas mileage as the Camry, but what you give up in mileage you make up for capacity. This includes passenger room and additional storage when you fold the rear seats down (basically it's a pickup with a shell at that point).
Because you drive winter, a good set of all season (I personally like Goodyear Silent Armors as they deal with winter in the Sierras) will suffice. I wind up going from Lake Tahoe to the SF Bay Area frequently and chains/studs are simply not in the cards. V8 and 4WD w/ good winter tires is an excellent combination.
Newer 4Runners come with side curtain air bags, so in the advent of a roll over or side impact, they're supposed to help. I haven't tried them out nor felt the need to test them, but it may be a selling point for you. You will sit higher up and be more than likely to survive a front/side impact and with the extra room in the rear, a rear end collision will do more damage to the person hitting you.
If you decide to go camping/offroading, you have plenty of room and ~7000 lbs towing capacity. Though your cargo capacity is ~700 lbs, you can exceed it (I've loaded pavers one day, asphalt sealant the next and quikrete on other weekends) without worrying too much.
Overall, a 4Runner is a VERY capable vehicle for 95% of the conditions you're going to encounter. It's very versatile and will meet the needs of most families. There are drawbacks where specialized vehicles are called for:
1. 3+ children (e.g. 3 small is okay, 3 teens for long distance will have them kicking you in the back of the seat)
2. Need a larger towing capacity (e.g. large travel trailer)
3. Hauling tall objects (e.g. trees for landscaping)
4. Money (e.g. gas mileage and insurance are make-or-break)
For the above, a larger SUV (e.g. Sequoia or Excursion), Diesel or Pickup would be better choices but the trade offs are much more distinct.