I'd personally go with the Lexus GX470 or Sequoia over the Land Cruiser for family hauling/moderate off road.
The land cruiser is killer as an off road rig for the family but its a trade off vehicle for being tough as nails for the bush(tradeoff is typically MPG due to weight/full time 4wd).
The GX470 will handle a surprising amount of terrain, Great 4wd system(A-trac) has a good power to weight ratio as a daily driver, a bit more compact for parking, luxurious inside, decent MPG, very reliable, and reasonably priced. I also like that when comparing it to a 4 runner they have 3 rows as standard and all have 4wd. They have an annoying rear swinging door though.
The Sequoia might even be a better choice as it will still handle most reasonable 4x4 trails in stock form and have even more room inside as the kids get bigger and want their own space.
It would be my choice as a all around 4wd family hauler IF I wasn't interested in actually wanting to "wheel" it. I consider wheeling finding difficult terrain for the hell of it and picking hard lines/putting your vehicle to the test. IMO this differs from overlanding where the object is to travel to far off destinations(there's almost always an easier path/easier line on the trail).
If you want to play on the rocks and look for difficult terrain then I think the land cruiser is the clear winner but they don't depreciate much so the buy in can be high(but you wont lose either). Cant really speak to mileage other than most seem to make it to 300k either because they are amazing or owners tend to be "enthusiasts" and take better care of them. I'd want one at or below 200k and i'd expect to spend 15k for it.
If you want a milder rig to explore trails and camp then the GX470 may be easier to manage due to size(and fit the kids/cheaper to buy and nicer around town). Mileage in the high 90k or low 100k would be easily doable for 15k(I almost bought one for 9k with 127k miles). These tend to last a long time as well. I'd expect 250k miles from a well maintained one. As a bonus most people including myself think they are better looking than any of the other Toyota SUV's in a conventional "my wife loves it" kind of way.
If you want a family hauler that can handle the above but is going to be bulky and not have much of an aftermarket i'd go with the Sequoia. You can get them much cheaper, with lower miles and they are insanely reliable from what i've seen.
Value per $ IMO is a used 4wd Sequoia which also has the A-trac system on the GX470. If I was in your situation i'd lightly modify it and have something that is very versatile being roomy for expo, comfortable @ towing, good off road(not great but good), tons of space for kids, space for home depot runs, etc.
