A bone stock 4x4 Toyota with 32" All Terrains, bare bones recovery gear & a jerry can will crush it off-road. There's no doubt. However; factory options, TRD packages and stock off-road capability aside its the stock suspension that warrants concern when you start loading the truck down with people, provisions, gear and especially overland modifications.
I don't care which trim level you buy...Taco's, GX's and Runners ship with standard-duty suspension components and I personally would not expect an OEM suspension to remain comfortable or capable long term if you plan to load the vehicle and extract its true off road potential. It doesn't take much to exceed these vehicle's GVWR.
People all over the world have been wheeling throughout the gnarliest backcountry for decades without any of the modern tech & comforts we enjoy in our newer Toyotas... With so many choices, it's easy to get caught up in the features & specs. My claim is that a base-level late model 4x4 Yota with upgraded suspension and tires comprises an essential overland platform upon which things like ATRAC, KDSS, Leather Seats, and factory E-Lockers are simply nice-to-haves if the budget permits.
Buy whichever truck you prefer to pay for & live with every day, with the expectation of paying even more to equip it to meet demands that will likely exceed Toyota's published performance envelope.