Kevin, I've been weandering back roads, dirt roads and double track for many years.
My first 4x4 was a Scout II - I loved that vehicle - even the brake lines were above the axles and entered at the top of the brake housings.
I have had several full size Chevy trucks - 2500 and 3500 duallies, a Ridgeline, a Jeep Cherokee Chief, an '84 Suburban, and others. My FJCruiser was a 2010 Team Trail version. I finally traded that in on my wife's Avalon, and bought a new 2015 4Runner Trail edition with lockers front and rear. My 4Runner has taken me many interesting places, from Yellowstone and 70 miles north of Toronto in January, to just driving in the mud chasing short eared owls this evening. I find the size of the 4Runner great for two people, or 3 or 4 very close friends who pack very compactly. Its engine is more than adequate off road, and adequate, if not inspiring, on the interstate. I towed a Moby1 trailer with it in the mountains without any issues. My FJCruiser didn't like pulling trailers in the high country. I took the ice driving course at Steamboat Springs two winters ago, and the vehicles we drove were Blizzak shod 4Runners -> great fun driving on reverse banked ice covered turns in a 4Runner.
Really great off road vehicles aren't really that nice to travel on the interstate with, and I do a fair amount of long distance travel for much of my trips from Indiana to Colorado, New Mexico, Utah, Arizona, Montana, Wyoming, California, Yukon Territory, British Columbia, etc. The 4Runner (or a Sequoia or Armada) does this just fine. For me the 4Runner has a nice balance of good road manners and comfort, with fairly serious off road chops. I am not a rock crawler, nor a mud bug driver. I do want to travel on double track and back country routes that TAKE ME somewhere - overlanding so to speak, not rock crawling. If I was into rock crawling, I would want a lifted vehicle with much bigger tires, but they make poorer interstate cruisers, which I suspect you already know.
I looked at and drove recent Tacomas, and the small Chevy ZR2. I loved the ride of the ZR2, but the gas milage wasn't that great, and so I finally bought a new 2018 Ford F-150 3.5L Ecoboost FX4 XLT Supercab. I love this truck - rear lockers, good ground clearance, and a 600mile range with the 36 gallon gas tank. The highway fuel economy is very similar to my 2015 4Runner, but the F150 tows 5000 pound trailers with ease, and the turbocharger means you don't lose horsepower as you climb up into the higher mountains. One thing I really like about my F-150, is the the rear seats fold up backwards toward the back of the cabin, and the floor is perfectly flat with no driveline bump which means I can stack all sorts of backs, packs, suitcases back there out of the weather if there are just my wife and I. I do have an ARE bed cover and I am seriously looking at the drawer systems from Decked.com - I did love the hidden locking dry locker in the back of my Ridgeline years ago for hiding camera bags at trailheads.
Every vehicle seems to involve some compromises some where, but I am quite pleased with my current 4Runner and my F150 FX4. There are times the F150 seems too large and bulky and then I prefer my 4Runner, but the F150 is much faster and stronger in traffic, and passing. It gets up and goes.
One vehicle I haven't tried yet, but am thinking about - Ford makes their full sized Expedition with a 3.5 L Ecoboost engine and an FX4 chassis set up - so if you prefer an SUV to a truck, that might bear looking into. It is on my list to drive. For years I have lusted after a Range Rover, but the cost, the need for premium fuel, and my general miserliness, have left me quite satisfied where I am with my 4Runner and my APPROVED VEHICLE white f-150 FX4 SuperCab.
I am sure the F150 will swallow 33 inch tires without any lift. My F350 Tiger RV has 34 inch tires on 20 inch rims with out a lift
I will be happy to try to answer any questions if I can help you out in your choice of vehicle.
My wheel well this evening -