Sounds like what you want is the standard
Envoy/
Trailblazer with the optional skid plate package and locking rear diff(I don’t think you can get a locking rear diff on the 4Runner). It has a 4.2L I6 with 275 HP and 275 lb-ft of torque and a transfer case with 2IH 4IH 4LO and auto-4WD.
There is also a bigger version you can get with a 5.3L V8 with 300 HP and 330 lb-ft of torque.