The SR5 is cheaper.
It doesn't come with the luxury Items that the Limited has.
The Limited will have Leather, more features, driver/passenger power seats, etc.
The SR5 is just the entry level 4Runner.
The limited is also $8,000 more to start with lol.
When you talk SUV's "performance" is relative. If you mean fast, they don't make one. They do make the Trail Edition 4Runner that's specifically made for going offroad. It's got great approach/departure angles, skid plate, e-Locker in the rear, and the A-TRAC suspension from the FJ Cruiser.
www.toyota.com