As current owner of a 4Runner and previous owner of an Xterra, I can heartily recommend both. Neither is a crossover. They’re real SUV’s as both are built on rugged truck frames.
The Xterra is especially great at carrying bikes… you can get an internal bike rack, fold down the rear seats, and carry two bikes upright in the cargo area. This keeps them safe from mud and rain, secures them from theft, and prevents you from driving roof-mounted bikes into low clearance overhangs (/facepalm. /twice.) It’s also very reliable and relatively inexpensive. Unfortunately, it’s not very refined nor does it get great gas mileage.
The 4Runner sets the standard. It’s a world-class SUV with unbeatable reliability. They cost more but you get what you pay for with superior engineering and technical abilities. As far as bikes go, they’re not quite as accommodating as the Xterra since they have a “high floor” and a “low roof”. On the other hand, mine gets 22mpg in mixed city driving and over 25 on the highway, which for a truck-based SUV is simply stellar.
The small- to mid- SUV and crossover market is awash with lots and lots of choices covering a wide range of features, price, size, and unique features. Do lots of homework, look at pictures and compare prices on sites like CarMax.com, and the right vehicle for you will eventually stand out.
And then report back here what you got. We’d love to know. ;-)