Well I cannot tell you how a Toyota Tacoma or 4runner is off road but I have owned an import 4x4 and it was fairly dependable and had a good platform for mild offroading. I drove a Dodge Raider/ Mitsubishi Montero SWB. It had an independent front suspension like the Toys. It will work well for mild offroading. I do have to point out that you can lift them but the lifts are pricey, as most parts for imports are pricey. I sold the Raider because I found that I wanted more than it could provide w/o major re-engineering of the suspension. I am loving owning the Jeep and do not regret switching. A 97 and up Wrangler(TJ) w/ a Dana 44 rear end (you have to seek out this option) will not leave to wanting more for a while, but trust me when you off road a Wrangler, it is like drugs (never tried them but this is what it has to be like) You will go from minor trail riding to more advanced stuff. This is the "Jeep thing" and you have to drive one to understand, and it has nothing to with the smugness that the stickers suggest. Test drive them all, Top down on that Wrangler on a beautiful spring day is tough to beat.
You may be able to rent a Jeep Wrangler in your area, a member of my club rented a Rubicon Unlimited recently, so they have to be out there. I guess you may have to expand on what you want your 4x4 to do, do you have to tow anything? Do you have to drive it long distances? Will you expect to haul anything with it? The auto is OK off road, but the few people that own them have mentioned that if they had to do it again they would go manual. The autos do not have good vents on them and it doesn't take much depth of water to get it in the trans. I guess it has to be a preference and mine is manual, It kinda adds to the Jeep experience I guess.

A soft top can be a blessing and and an enemy. It is nice to drop it in a shot time, but it gets old having to put it back up sometimes, The TJ is much easier than my old YJ. The soft top can be noisy on the interstate and can leak, where you can get a hard top but you can't just pull it off easily and anywhere like a soft top, but it is much quieter and more weather proof.