I think part of the difference in driving, between my F150 FX4 and my 4Runner is the difference in throttle ramping between Ford and Toyota, the difference between the 5 speed and the 10- speed transmission.
Toyota's throttle ramp on the 4 Runner is very shallow and takes a deep press of your toe to really get into the engines torque curve which is above ~3000-3500 rpm as is the throttle ramp on the FJCruiser and I have a suspiscion that this is a deliberate engineering choice by Toyota- makes for very effective speed control in 4WD LO ( which is important in preventing breakage of driveline parts on rough terrain ) - whereas, my Ford F150 ( and a previously owned Toyota Tundra small block V8 pickup ) has a much faster throttle ramp which means one leaves the stop light very quickly if one desires - this is nice on the road and in traffic, but maybe not quite as nice in 4WD LO - I don't have much experience with 4 WD LO in my F150 yet - haven't needed it locally - as I said, my vehicles are to take me somewhere into the back country to do something out of the vehicle.
I do truly admire the hard core off road racers like DanSolar above. I love the European off WRX racers and the ice racers, but my goal in the back country is to get in and out safely, comfortably and securely without breaking anything if I can help it. So far, I've had pretty fair luck with my plan.
I really thought I would need the V8 powerplant due to a 5000 pound trailer I tow from time to time - too big to easily tow with a 4Runner or a Tacoma, but driving the Ecoboost and Ford's tow rating for it of 11,000+ pounds convinced me other wise.
Here is a nice cheesy video of the 2018 Ecoboost dragging the V8 F150 - the Ecoboost gives up 25 HP to the V8, but has 70 foot pounds more torque and it shows - they have added more ads to this video since I first saw it - sorry for that
Ultimately you have to decide if a full size truck will fit in and through the terrain you are travelling in. There were lots of places at the FJ Summit that I would definitely not have been comfortable trying to go with a full sized truck, and a few places a full sized truck would probably not made it through, at least not in my hands.
But I do prefer the space, the carrying capacity, and the comfort of a full size truck on long interstate trips getting to some interesting back country. SO you have to pick your poison, I think.
In the evenings recently, I have been streaming The Gymkhana Files - a quasi history of Ken Block's series of drfiting, off road racing videos - very entertaining but makes me wonder how many times you can get away thumbing your nose at the old soul catcher.
Ken Block made a comment I found rather interesting and unexpected - he said he had way more traction on ice with studded tires, than he had on gravel courses with off road tires. Drifting on ice is fun, that's for sure.