I'll take you for your word on the storage capability of the FJ. I test drove the thing and roughly sized up the interior and it didn't look as big as say a 4runner or pathfinder, but I never had the opportunity to actually pack one out.
As for everyday practicality, I think most of my points were valid. The FJ was and still is definitely more focused on off-road usage than it is on daily driving. I have absolutely no problem dragging around 4 people plus a 90 lb dog and gear for a day trip in the 4Runner. Could the same thing be done in a FJ? Probably, but I'm sure the fit will be much tighter. The visibility in the 4Runner is better as is the mpg, if only slightly. All those little things seem insignificant by themselves, but they add up during a 9 hour road trip with passengers and gear or when picking up family and running errands throughout the day.
Again, I totally understand the concept behind having an FJ-type vehicle in the Toyota lineup and I respect it for what it is. Its focus and priorities are a bit different from most other vehicles though.
I realize I risk becoming the naysayer in this thread, but if you say you are only looking for "moderate off-roading" and want something for around $20k, have you considered looking at other vehicles?
The FJ Cruiser (which I was heavily considering prior to finding my 4Runner) was definitely purpose-built to be a hard-core offroader. It sacrifices something in the way of visibility, fuel economy, everyday practicality, storage room all for the sake of being able to tackle the hard trails. I certainly love the concept behind this vehicle, but couldn't justify buying one because I knew 99% of the time I'd be driving on pavement.
Based on the criteria that you described, there are several other vehicles that come to mind: Nissan Xterra (look for 2011-2014 Pro-4x version); Gen 4 Toyota 4Runner; 100 series land cruiser; the older gen Nissan Pathfinders (R51 I believe). All of those vehicles have decent reputations as off-road capable vehicles and most can be had for $20k or less depending on how much mileage you are willing to deal with.
However, if you are set on getting a FJ Cruiser, I would reaffirm what others have said and advise you to get a 2010 or newer for the upgraded engine and better reliability. Also, if you do have any eventual plans to mod your FJ, it would make a lot of sense to buy one that has already been upgraded. You will definitely pay more than $20k but you will save more money than if you buy all the mods yourself and install on a stock FJ.
The FJ Cruiser is no more a "hard core" off roader then the 4runner, they have the same drivetrain and suspension. I could take the Icon suspension off my FJ and bolt it right up to a 4runner. The difference between them is predominantly looks, full size rear doors and interior space and finishing. My advice is to buy which ever you prefer, make sure which ever you get it has the rear locker, and most importantly, get out and use it!
FJ also has a shorter wheel base too I believe, but I think you're missing the point i was trying to make. I wasn't necessarily saying that the FJ was a better off-roader than the 4Runner, or vice versa. I was saying that the FJ is much more focused on being an off-road vehicle and is not as practical as a 4Runner, and other 4WD SUV's, when it comes to normal daily-driver duties. I know there are plenty of people who DD the FJ, and I'm sure some if not most would agree with me.
I have owned an FJ, 4Runner and GX470, currently DD my FJ in Los Angeles and use it 5 to 7 days every month for back country trips with 2 to 3 people. I can say with certainty that the FJ is as practical of a DD as any other Toyota 4wd vehicle. The fuel mileage is the same, handling similar,and luggage space is similar. The biggest difference is ease of access to the rear seats. If you have children that are constantly climbing in and out you may want them to have their own doors so you don't have to constantly let them in/out. Also, from an overlanding perspective, if you plan to sleep in your vehicle, the 4Runner is longer (GX much bigger) and hence has more space to sleep inside. When helping people on the forum I try to be as objective and factual as possible. OP as someone else has already mentioned, you may want to direct any specific questions or just lurk on the FJ forums, they can be very helpful.
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The FJ does not have the same mpg as the 5th gen 4runner, nor does it have the same interior space.
That aside, your opinion of how the FJ compares to the 4Runner as a daily driver is well, an opinion. I have mine and you have yours. There is nothing wrong with having different views on the same subject. I suspect the OP is very capable of deciding for himself (or herself) which feedback is worth listening to.
If you are going on a long road trip with a car full of passengers, then I concede the extra cargo room of the 4Runner may be valuable, but don't tell me that they are not comparable daily drivers. Please stick to facts, not opinion when trying to help others on the forum. Sorry OP not trying to hijack your thread, this is the last I'll say on the subject.