QFT. Let's all say it together: "tow rating is meaningless without payload." If you're single, no kids, and just want to tow a boat to the lake, or you're retirees with a small-ish travel trailer and little gear in the car, all of the above may suit you well. But if you have a family AND want to tow, there aren't a lot of options. Throw in offroading too and you're asking quite a bit. The Expy/Navi is IMHO the best compromise available (or I wouldn't have bought it lol).The problem with the 4-runners, JGCs, etc is the payload sucks. By the time you get the wife and kids, car seats, etc in it, there’s no more than a couple hundred pounds left for tongue weight.
Honestly if you want to live the RV lifestyle, have a family, (i.e., have a lot of stuff) and still want to do serious offroading, get a motorhome and tow your tricked out Jeep behind it. Park the RV at the trailhead and then get wheelin' in a proper vehicle. Plenty of options for various use cases, preferences, and budgets.