Welcome
You'll probably find the Xterra suits your needs perfectly. It has plenty of room, without being too oversized for trail use.
The 4Runner is a great truck too. When I bought my Xterra, I was deciding between a '01-ish 4runner or '02+ Xterra. I decided on the Xterra, and I could not be happier. (Since then my wife also got one, and I got a second one for my work).
The Second Gen X's (05+)are very nice, pretty decently powered, and include some great features over the 1st gens.
Go test drive! (but bring your checkbook, because you won't want to leave the testdrive without the truck)
Also, stop by and say hello at the Upstate NY Xterra club
http://www.unyxterra.com