Most versatile DD?
For a DD, a 4 cylinder 2WD might suit your needs. Get ready: a lot of members will say that the V6 is under powered, and the 4cyl is too slow to get out of its own way.
But for a DD, not running a lift kit or big tires, it works out pretty good.
Now you have a DD that is capable of going down some pretty rough roads, camping, etc. Not rock crawling or mudding, a road is still needed.
Add Tundra brakes (at least 199mm) and 16" wheels, and you can tow a decent trailer, without warping brakes, without white knuckles.
Add a separate set of winter tires/wheels, and you can go through deep snow where the guys in big 4WD pick ups are spinning out.
Make sure the headlights are at the glass ones, which started in MY2000 or so. Much better light output, and a big safety upgrade. If you get a '98 or '99, upgrade the headlights.
Used as a DD, a well maintained 2WD 4cyl Runner with 200k on the odometer can get 24MPG, go 60k on a set of $450 tires, can get to a campsite and back on rough roads, tow a trailer, and never require a timing belt.
A 2WD 4cyl is the lowest on the totem pole, an under powered station wagon compared to its 4WD, V6 brother with 31" Duratracs and a 3" lift. But as a DD/light duty camping vehicle it can do a lot of what a 4WD can do, using less fuel, and with lower maintenance costs (tires and brakes).
Good luck!