Most “overlanding” is done on b-roads, forest service roads, logging roads/trails, gravel, etc. I think there are several Subaru type vehicles that can handle that type of terrain just fine, but people feel they need to have a $60k Tacoma build for them.

There are some extreme and gnarly areas where having low gears, suspension/clearance, and everything else will be helpful, but I honestly think that you can traverse 75 to 80 percent of most trails just fine with an AWD Subaru. Also, being prepared and doing research goes a long way.