With not wanting to upgrade the existing wiring on the two vehicles, which is totally understandable, you will be limited to a smaller charge controller. Running 8awg on the trailer just for the charging circuit would be ideal. Personally I would get something like this
Trailer Bulkhead and
Jackery Adapter to be able to plug the solar panel directly into the trailer and then the wiring from the bulkhead is terminated at the charger of your choice. They both are "waterproof" and the cables on the Jackery solar panels should be too. The bulkhead is only rated for 20a so would only handle one 200w panel however, so an additional bulkhead would be needed for the second 200w panel you have.
Redarc suggests using a maximum of 50% on your alternators charging capacity for one of their units, pretty sure renogy is similar, so I wouldn't worry about either vehicles alternator output if the charge controller is only rated at 30a. I don't remember what year the 4runner is but it should be more than 80a. the Renogy 30a and 50a dc-dc charge controllers with MPPT look promising and you can manually adjust the input current which kinda helps future proof the system. For instance, you could get the 50a and dial it down to 30a for your current set up while having the ability to upgrade in the future, I think that's kinda cool and its fairly inexpensive, bluetooth adapter is a most though.