What NormT said is true. The 4Runner is one of the lowest depreciating cars on the road, but what money you lose in the beginning will be made up because these cars are unkillable. It is one of the best performing SUVs off-road. 4Runners easily can drive past 300k miles with normal maintenance. Buying a 4Runner with the tried-and-true 4.0L V6 is a must because the 4 cylinder is just too slow with minimal MPG gain.
The Ford has all the engine tech that will give you better performance, but will not be reliable after 8 or so years. The engine in the Explorer is actually unreliable, with the turbo needing meticulous maintenance and eventually failing. Also, there is a design issue where exhaust fumes leak into the cabin which is not a good thing (it almost killed someone). Honestly, you would be lucky to get 5 years without some type of problem with this car.
Unless you are going to be doing heavy duty off roading or go through very harsh winters, the 2013-2017 Toyota RAV4 AWD will suit you best. It gets the best MPGs of the others, is more comfortable than the 4Runner, and is as reliable than the 4Runner. It will still drive well in snow or a steepish dirt hill. It is easier to park and live with and would be the one I would buy between the three. You could get a higher mileage 2016 RAV4 LE/XLE, but I would not go older than 2013 because that was the big redesign year.