for 15 years I drove a 1997 Toyota 4Runner 2WD (are you ready for this?) 4 cyl.
It got me everywhere, only got stuck 3 times.
1) spin out in a sandstone sand trap down at San Pedro, CA
2) 30% incline on frozen ice uphill, forest service road in Jacintos, slipping.
3) same road as #2 but end of summer, giant soft sand potholes.
Surprisingly it did well offroad in Death Valley. last year when I retired the 1997, I knew I had to get a part-time 4WD 4Runner. As I am more interested in my adventures, and don't want to take chances on getting stranded for hours with a spin out tire.
The part-time 4WD is only engaged when I need to climb or off-road, so 99% of the time I'm running in 2WD gas efficient around the city.
The 2011 SR5 (do *not* get the Limited) has very cool features such as Downhill-assist control (DAC), and A-TRAC. At first I thought these are fu-fu gimmick features for posers. I tried out DAC and I was WOW surprised. usually downhill I'm riding my brakes and leaving a giant dust cloud, with DAC it was calculated carefully calibrated creeper mode. Look up YouTube videos on DAC and A-TRAC.
A-Trac is very cool too, if you have 3 tires on the ground and one in the air, it auto locks that wheel from spinning out so you can keep on going. Great for giant potholes.
The other safety stuff is good, wall-to-wall airbag curtains etc.
Do Not get the Limited Edition (LE), that has low-profile tires and is intended for luxury, but not trails. Toyota also has Trail Edition (TE) with most upgrade that already come with the SR5.
In the 2011 4Runner, Toyota took the good trail technology from the Land Cruiser and dropped it on the 4Runner.
Only downside to the 4Runner, is that Toyota used a high end catalytic converter made from precious minerals (Titanium) and then it became popular for thieves to target 4Runners. In Southern Calif, universities, shopping center parking lots, cars on driveways get hit by the dozens. Thieves slide under the truck and saw the Cat Con in 2 mins, to sell it for $50 worth of titanium. You will know right away that your street was hit by thieves when all the neighbors' SUVs at 6:30AM start sounding like Harley Davidson mufflers, when they are ready to go to work in the morning.