I only have experience on the Yota-side obviously. I guess it depends on if you ever plan on REALLY wheeling this rig. And, if you are mainly using this for DD and errands and such, are you more concerned with interior comfort, etc vs off-road capabilities/future mods?
The 3.4 V6 of the yotas are VERY reliable, but I can't speak to the XJ engine...sounds like they are strong as well. My V6 never got great gas mileage, even before all the mods and weight additions, so I wouldn't think that's a plus for the yotas, at least my gen (3rd gen 4Runner).
You KNOW these guys are gonna say J**P! //;D//
Let me know if you have any specific Yota questions.