A 90 series Prado is likely far more capable than you think. They are fully capable of some pretty serious 4wd'ing should you ever feel so inclined. In the UK many examples are available that haven't spent a day offroad.

You could also look at the Mitsubishi Shogun (Pajero's). Models between 2000 and 2006 (preferably aim for the updated version around 2004, as some gremlins were eliminated and they got an awesome traction control system) are pretty cheap now. These are very reliable and capable offroad. Not as much ground clearance in standard form as the Prado, but plenty for your needs and cheap to add a 2" lift kit in future if you ever wish to.

One thing to be aware of with these vehicles with older style diesel injection pumps is that many of them are now in need of a pump overhaul. Once done you'll have a very reliable vehicle for a long while to come, but the cost to overhaul the older style mechanical pumps is very high.

One reason to consider a Prado or Pajero over a soft-roader is that you might have only set out on a light duty dirt road, but find yourself half way down at an obstacle (a rock slip or washed out stream) that a soft-roader can't manage but a real 4wd can. Also, many soft roaders were only designed to see occasional dirt. The chassis and drive trains in both the Prado and Shogun's are heavy duty and can contend with tough use day in day out.