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With running boards, probably not. Without… likely that it can, but will drag bumpers and mud flaps. Truth be told, though, I have not been on the trail in 4 years or so.
I went on a family trip there with a stock 2014 4runner limited and 2 other fzj80 and did not have issues. Are GX's that low?
They are fairly low, even in high mode. To me they seem lower than a stock 80 series but I read of stock hundies doing harder trails without carnage.
Did the GX470 have AHC?
The front is a non height adjustable coilover just like on most 4th gen 4runners. The rear has an air bag system. Not hydraulic like AHC.
The rear air bag standard or a option? Can't remember what it's called but there was a option of a rear disconnect for better articulating off-road.