I have a 2019 rav4 xle that I love and have no problems with. Recently I started taking it “off-road” while my first experience was great. Second time out I got stuck going uphill on loose gravel, I had to get pulled out. I have been looking at the 2021 adventure because of the torque vectoring awd, or the 2021 4Runner with 4x4. I was leaning toward the 4Runner I have been watching videos of what the sr5 is capable of, but I would then want the TRD version which is not in my price range. Honestly I don’t think I would do anything more difficult then the moderate trail I got stuck on, and the RAV4 has better fuel economy, this will be my daily driver also. I feel now that the adventure would be capable for my needs, I guess I want opinions from adventure owners as far as how much you have pushed it going off-road, also some camping and over landing. Thanks for reading and let’s hear it.