Yeah I've once experienced this. Climbing up to kandol lake near utror kalam. On a 5 door 2L powered.
6 passengers and it was so steep track, literally seeing towards sky. And prado did the job easily in Lo hi gear.
Once I came out of it, my family went to the lake but I came to see the engine bay, and hear a kirr kirr kirr diesel idling sound, touching the radiator pipes and they were almost 60-65 degrees only and it was beautifully idling. That day I was really impressed.
So my other ride Bj40 jeep powered with a 2B is a real. Monster compared to a 2Lte. It literally climbs the hills in 2wd mode very easily.