The 4Runner has a softer suspension than a truck so it's a nice ride off road.
I haven't taken mine rock stepping if that is what you mean. But it's pleanty rugged for getting to and from remote fishing lakes and hang gliding sites. I wouldn't use one to break trail but it's fine if it looks like there at least used to be a road there. ;-)
If you want to break trail, get a Land Cruiser.
No jsut a gravel road to the house. But things can get tricky there in the winter and spring.