Need Advice on Buying First 4 Runner

My wife and I both own Volkswagen Tiguans with roughly 70,000 miles on it and we're very interested in the idea of selling one, or both, of our cars and getting a 4 Runner. We do a lot of camping, mountain biking, and hit lots of gravel roads. We are, however, not at all into off-roading and driving on technical terrain.

My question is, is there a significant difference in the driving quality and longevity of a regular 4 Runner vs the TRD Pro which has better suspension, so I read. Our plan is to find a low-ish mileage second hand V6 and drive it forever and we want to make the right decision/investment. Additionally, is it worth getting the entry level model and upgrading things over time or is a car best purchased with upgrades already installed financially?

Thanks for your help, looking forward to joining the group here!