My wife had a 97 4Runner and my friend has a 99 4Runner with 210k miles he's selling for a newer Tundra. It is really amazing how far they can go.
The Toyota RAV4 is probably a good choice. It'll have the reliability you are used to with your 4Runner (maybe a little less durable than your 4Runner). Easy to see out of, has 4 wheel drive, cargo space, smaller than a 4Runner. It is boring to drive however. Even if you get the cheapest trim level, the LE, you still get all the active safety features standard. Has a 3,500 lbs tow rating with the Adventure AWD trim. The Hybrid is rated to tow 1750 lbs. You may want to buy the Hybrid RAV4 to sacrifice a good AWD system and tow rating for higher MPGs.
The Mazda CX-5 would be more fun to drive, but won't be as easy to see out of and reliability won't match Toyota. It is still very reliable. Has a little less cargo space than the RAV4, but not by much. It feels like an entry-level luxury SUV with the beautifu exterior and high-quality interior. Has a 2,000 lbs tow rating.
A 2018 Subaru Outback 3.6L might be the best option. Easy to see out of, more powerful engine, cargo space, active safety features are available, comfortable and quiet, lots of cargo space. Has a 3,000 lbs tow rating. The 4wd system is the best in this one. I would worry about reliability more than the Mazda or Toyota. Oil consumption has been a problem with Subarus, but not really with the 3.6 engine. Gas mileage would also be lower in this than the Mazda or Toyota.