4Runners classically have been more trail ready than Tacomas. I’d expect a bit more rough and ready in the 6th gen. Side note, these new trucks are not very attractive.
Many of the more established BLM areas have gpx files on their websites. They take some clean up, but generally good.
Hear you on Gaia, really not an intuitive app. Lots of room for improvement.
You have some worthy upgrades on your list. I add things that make your rig more reliable, and protected. Skid plates, upgraded battery, tires, navigation, lighting. 4runners are so much fun to upgrade.
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