Brother, don't take offense, but I don't feel you know too much about LCs. Who told you the 2.4 and 3.0 Prados are poor offroaders? I have a friend who has a 2.4 diesel LC and he hangs out with our 4x4 Engaged gang and has no issues keeping up with some "true" offroaders. Trust me, our definition of offroading is very very literal.
You are right about the 70 series, but they are mean off the road. They do what they were meant for very well. And so do the 40 series.
In my opinion, if I were you, since you want to drive the vehicle more in the city than off the road, I would look for a SX Turbo LC, or what you are calling a 3.0 Prado 3 door. But trust me brother, you will be offroading more and more as soon as you get a machine like the ones you have mentioned, in short, you can't go wrong with either one.