If you don't need the extra ground clearance, go for the more car-like Grandis.

Fortuner 2.7G
Max hp: 160 PS * 5,200 rpm
Max Torque: 241 Nm * 3,800 rpm
Transmission: 4-speed A/T with ECT
Curb weight: 1735 kg (3817 lb)

Grandis 2.4 MIVEC
Max hp: 165 PS * 6,000 rpm
Max Torque: 217 Nm * 4,000 rpm
Transmission: 4-speed A/T INVECS-II with Sportronic
Curb weight: 1625 kg (3575 lb)