It is definately a "4wd" but by no means is it an "offroader". I was able to have a good look over one at Toyota (even under one on a lift) and there are so many issues I can see without even trying.
For a car which costs $105,000 plus on road (top of the range diesel) you would still need to spend another $20,000 on it to do any form of serious offroading.
There are plastic bits everywhere underneath, things like the transfer case guard will basically act as a shovel, there are pipes and other things under the sills that would be caught easially unless rock sliders were installed, the rear shocks mount very low on the bottom of the wheels (and sitck a fair way out from the wheel itself), the spare wheel is exposed under the car.
The list goes on.
For the price... Not worth it