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Any SUV with good ground clearance over 6 inches like the Toyota RAV4 will handle well on rough country roads made of compacted dirt, gravel or even moderate amount of loose material and shallow ruts. You do not need 4WD for that type of road, and you will get much better gas mileage and sufficient power with a 4 cylinder than with the V6. However they are not made for serious off roading on rough unpaved terrain and are probably going to get stuck at some point even with 4WD because their 4WD systems are designed for better paved road holding. If you plan to do serious off roading you need a Jeep Wrangler type vehicle with "real" 4WD that has a low gear transfer case for extreme surface conditions.
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