I have been off-road on the Hilux (Vigio?) and its very, very good both on sand (desert) and on dirt roads (fields). You sit higher up so you get good views too.
On paved road it drives like any new SUV would. Much comfortable and steady in comparison to older SUVs (like Pajero).
It has a lot of space inside. 3 could sit very comfortably in the back set. Plus you have the open back where you can put your stuff, luggage or have seats installed for field workers (haris).
I would say that Vigo is much bigger than the Surf. But I cant say much more about Surf.