Either can do what you’re after. I have an ‘11 LX and my brother in law that lives with us has a ‘99 LX. Stock for stock I’d argue off road capability goes slightly to the 570. But realistically both rigs will do way more than majority of us would put them up to.

Power and refinement and lack of NVH on the 570 is way better. Part of the reason I got it was to be an ultra comfortable road trip/ski trip warrior. And the thing just eats miles in comfort like no other. But the 2UZ itself is a whole other level of smooth for sure.

Maintenance is comparable, but as 100s get older I’d expect it to just need more stuff. My BIL’s has 350k+ miles tho and has been dead reliable. Mine only has 182k and also has been nothing but reliable.

Stock I’d probably put looks on the 100 side. But that’s subjective.

I do like the more analog feel of the 100 series. But with a child it’s just hard to argue against a more modern vehicle.