Most of Toyota's "real" 4WD vehicles (4Runner and FJ, not RAV4 and Highlander) have long been capable vehicles, but with the switch a long time ago to IFS, a SAS vehicle should ultimately prove superior with better articulation.
We had a '96 Jeep Grand Cherokee (ZJ) on many a Jeep Jamboree in the late '90s and it's incredible what even a stock "luxury vehicle" will do. Ours had the Up Country suspension package, but it was still techically stock because it was a factory option.