For that price range, you're looking at either a FJ Cruiser or a 4th gen 4runner. I faced a similar decision a year or two ago, though I ended up with a newer 5th gen 4runner.
FJ Cruiser: solid platform (based on LC Prado platform); great utilitarian interior (angle indicator, some had optional carpet deletes, back area is easier to clean); venerable 4.0l V6 gasoline (not going to get much better than 21 mpg hwy, but that engine is extremely reliable); I think the FJ has an easier time accommodating bigger tires; optional part-time 4wd vs AWD; locking diff is easier to find with the FJ. Main issues I have with the FJ are its smaller interior space, suicide doors, and the funny-looking design (though once you start modifying the FJ it does like ************ IMHO).
4th gen 4runner: also a solid platform (based on LC Prado platform); more comfortable interior; optional part-time 4wd or AWD; optional 4.0l v6 or 4.7l v8 (both are great engines, the v6 gets slightly better mpg's though the v8 has awesome torque). Main issues with the 4th gen 4runner: mediocre stock ground clearance (the 4th gen seems to sit and ride low) and its harder to find a version with a rear locking diff.
You could also consider a 5th gen 4runner (also based on the LC Prado) which offers both the utility of the FJ and optional comfort features normally associated with a Prado, however, you will be spending at least $23k or more (especially if you want a rear locking diff).
My basic takeaway is the FJ is more spartan and perhaps a bit more capable in stock form, whereas the 4runner is a bit more comfortable and has additional engine options though it might require a little bit of work to make it decent offroad.