Used Toyota 4Runner vs Honda Pilot — which is more reliable?

Looking at 2018-2020 model years for both. Budget around $30k. Mainly need a family hauler that can handle occasional light off-roading (fire roads, beach access).

I know the 4Runner has the legendary reputation and body-on-frame construction. The Pilot has better on-road manners and fuel economy.

Specific concerns:

• 4Runner: outdated interior, poor MPG, but bulletproof 4.0L V6
• Pilot: ZF 9-speed transmission issues on early models, but more comfortable

Anyone own either of these? What should I watch out for during a PPI? Thanks!