Depends on the vehicle, you probably wouldn't want to try to take a Toyota Yaris offroading.
The Toyota SUV's and pickups are pretty well capable offroad. A lot of offroading depends on the driver's abilities. I've taken 2WD pickups places where people drive they're offroad 4x4 trucks. Its all in how you drive, what vehicle you drive, the tires you have on your vehicle, and the vehicle's overall setup. Some of the Toyota SUV's and trucks offer locking rear differentials, limited slip rear differentials etc, or can be installed aftermarket to make the truck more offroadable.
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