I have a third gen Tundra and it’s a fantastic truck.  With that being said, the only reason I have it is because we have a boat and travel trailer and I needed something that could tow them.
I once owned a Nissan Pathfinder and my folks owned a 4Runner. Â For overlanding type stuff where you may want to drive over technical terrain, those SUVs are a better size than my Tundra. Â One huge disadvantage is that their gas mileage is as bad as my truck but with much reduced towing capabilities. Â Only you can say which of those two, towing capability or more nimble size, are the most important to you.
For my purposes, I use 4WD as a means to get back home.  If I have to rely on it to get to my destination, then I’m also having someone following in another vehicle who also has 4WD and enough recovery gear between the two of us to pull each other out.  In other words, never as I don’t want to put my vehicle in that situation where I’m stuck hours from civilation.  I know of one person who paid over $600 to get her Tacoma winched out and the location wasn’t all that remote compared to some trailheads you’ll go to in Idaho.
If I didn’t have to tow anything and for the average forestry road, I think the RAV4 is close to perfect as a trail vehicle.  My wife has one and she has much better traction in snow with all season tires than I do in the Tundra with All Terrain tires.
Her gas mileage is much better than a Tundra or Tacoma.  I drove it to the GGG in Cali this year and got 24 mpg on my worst tank and 31 mpg on my best.  At 6’3”, I camped in the back of it a few times with the rear seats folded down although I’m too tall to camp with anyone else in the back.
Doug tricked out his RAV4 for camping so there are ways to take it to another level, but I found just folding down the seats was all I needed for any single backpacking trip.  If I was going to go on an extended road trip, I’d follow Doug’s lead.