It's an interesting comparison. The 200 was really good in that respect. What's interesting in this generation is that supposedly the 8 speed config in the non-hybrid is the best belly clearance of any of the GA-F configurations and that was one of the reasons they chose the 8AT over the 10AT for the Tacoma and 4Runner. The hybrid moves the crossmember back significantly. The LC300 only has about 8 inches of ground clearance, so it probably doesn't matter much. It has less ground clearance than a Rav4, so it's not really trail ready in stock form.
The offroad variants of the Taco and 4Runner are probably the most capable of any of the North America models. And I think that was true for the 5th gen vs LC200 as well. The LC200 we got never had a rear locker and I'd guess taking them directly off the showroom floor - the 4Runner would have done better on technical terrain. Not as comfortable. Not as fast. But would go further down the hardest trails. It would be pretty interesting to compare a 4Runner Trail Hunter with GX550 OT with KDSS and a LC300 GR Sport. My guess is that they'd all be very similar but the 4Runner probably wins because the body is a good bit higher and tighter in the critical spots.
You can see in the non-hybrid the transmission crossmember is forward and appears to be a tighter fit.
View attachment 3935385
vs Hybrid
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vs 10 speed GX550
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vs LC300 (with the 1GR and 8speed I believe):
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BTW - It's hard to find a profile image of a 300 without the lower body cladding side steps so you can see the belly clearance. It's possible this is the GR version with the 8 speed. I just can't find a profile image of anything else. Possibly the GX trim is the only trim that doesn't have side steps as a standard feature.