My daily is actually a 2018 4Runner TRD Pro(even older engine than the Tacoma I believe but bullet proof which is good for reliability / off roading). I've taken it on a few camping and off road trips and it just eats anything up you throw at it. I have seen Jeeps out off road me but they were all heavily modified and some even broke down the next morning or during the run. I've had 0 issues with the TRD Pro and is actually very comfortable to daily.
From what I've read the 4Runner is actually a better off roader than the Tacoma since the Tacoma has a longer wheel base which makes it a bit more difficult to off road in certain situations.
Unfortunately I didn't get into off roading as much as I thought so may be selling my TRD Pro soon.
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