We had a 2005 Toyota 4Runner with the V6. If you're thinking about a lot model 4Runner, they also offered a V8. Before I purchased, I wanted to know if there was any difference in the 8 versus the 6. Basically, the 8 offers a bit more towing capacity, and slight gas mileage penalty. Horsepower is close to the same on both vehicles. Unless you're towing a lot, the 6 will do just fine. Smooth engine, quick acceleration, 20 mpg pretty consistently. Good fit and finish, comfortable for a truck-ish suspension.
The argument that truck frames ride more stiff than car frames is valid, but face it: when was the last time you got in a nice, newer model truck and felt like the ride was all that uncomfortable? Trucks nowadays are every bit as nice as a sedan.
We got rid of our 4Runner when the lease ended, just for financial reasons. The vehicle was awesome, and I'd buy again.