The Ouray, Silverton, and Telluride areas of southwestern Colorado are particularly good for scenic wheelic trips that aren't difficult. There's camping near each of those towns. The campgrounds fill up fast so you should get reservations. Do a web search for those towns.

You should get a good 4x4 trails book, such as those offered by Chuck Wells. He has both AZ and CO books now. For Colorado his Volume 1 book covers southwestern CO. Look into trails like Engineer, Ophir, Imogene, and Corkscrew Passes. There are many other good scenic trails in that area. You can buy his books from www.funtreks.com or www.4x4books.com among other places.

edit: Oh yeah - this should get you motivated. Check out Darren's pics across Colorado. He has a 4Runner and occasionally is on this forum. His web site is: www.mycolorado.org