from a stock unit i see no "essential modifications" the 4runner is quite capable from the box, it was one of the few full size suv's that you could drive from the show room up the trail,
I agree with this. I run 4-rated trails (on the TrailDamage.com 1 - 10 scale) routinely in my unmodified 4runner. The only "mod" I have is slightly larger tires (265/75/16 vs the stock 265/70/16) and I removed the running boards. That's it.
At this point, a lift would cost me ~$600 minimum, and I figure if I put that $600 towards actually going somewhere fun, I'd enjoy it a lot more. :shrug:
BTW: Headed to Grand Canyon, Vegas and Death Valley in 2 weeks!