I can provide an accurate review (after I get my Fortuner) based on the fact that I had Prado 120 TZ G 3.4 for day to day use for 5 years (2010-2015), and also for off-roading. Took it to Deosai Plains from Skardu side on a tricky off-road track. I even saw an abandoned Hilux Vigo half submerged in mud, was nervous to cross the same mud patch, buy Prado crossed it easily.
I have my expectations set pretty low for Fortuner, I think the ride comfort and off-road capabilities will be more towards Hilux than Prado.
For now, the only thing I can say for sure is that the seats of Fortuner are not very comfortable, especially rear seats. I went to showroom and sat on back seat of Fortuner and then on back seat of Corolla. I didn't see much difference. Prado's seats are far more comfortable than Fortuner.