Let me add some woods to the fire😈
1: Nissan Pathfinder R51,
a slightly different version of Xterra, same power full engine transmission and platform,
this VQ40DE engine is really powerful, and in my opinion the strongest among the V6 rivals (Toyota, Jeep, Pajero, I have driven all of the mentioned brands' NA V6), once you push beyond 3k RPM, the kick is unbeatable.
3 row 7 seaters that can be folded down completely
full independent suspension, which allows you drive comfortably onroad, and the handlng is lots better than the ones with either 1 solid axle or both solid axles (All the Toyota options, Xterra, Wrangler), I drive often 130-140kmr on highway.
However its around 200 kg heavier 2.1-2.2 tons, which I dont think is much a big issue as you are looking for comfortable and roomy option
2: Toyota Fortuner,
the SUV form of the mightly Hillux pickup
Extremely durable 4.0 V6 which is also used on pre 2010 LC200, LC120 and FJ.
Weight about 1.8-1.9 tons, makes it the lightest body on frame v6 7 seater offroader in my knowledge
Optional rear diff locker