I recently purchased (in February) my first 4X4 Vehicle with it's primary focus being long distance remote off-road camping and travel. I'm coming from a modified twin turbo Audi A6 and also have a 2016 GTI. Deciding which truck to purchase is no easy task. Coming from posh leather interior and super smooth ride quality, it was difficult to shift my paradigm towards what's practical, versus what's "cool" or "comfortable".
With a $20k max purchase price, I researched long and hard, cross shopping 2nd Gen Tacoma, 3rd & 4th Gen 4runner, ~2008 Discovery LR3, Xterra, and Jeep JKU. I did not consider the GX470 because of its relatively excessive weight and an excessive amount of electronics that can be expensive to fix or perhaps a annoyance in the back country. Have you considered the pricing and breadth of the aftermarket parts eco system for the GX? It isn't compelling to for me, personally.
The 4th Gen 4runner Limited with the 4.7 V8 represents an excellent combination of highway ride comfort, affordability and simplicity with the same power and drivetrain as the GX. I found a 2008 4runner V8 Limited fully loaded with 119k miles for $17,200. $1200 below blue book. I picked it up in Chicago and took it for a 2000 mile test drive home to Bellingham, Washington. in the middle of February through some gnarly winter weather. Heated leather, full time AWD, IFS, and a minimal amount of unnecessary gadgetry. Zero regrets.
I do as much DIY wrenching and maintenance as possible, because I believe it is imperative to understand how to fix things if/when they break in the backcountry. It is strongly recommended you consider field-repairaility heavily before finalizing your decision.
If the GX470 fits your needs, you will be super happy. For me, there aren't enough compelling reasons to get a GX over a V8 4runner or a well-maintained Discovery LR3.
Cheers.