Well, to go against the grain here - if I were starting out with camper trailering and new to offroad - I'd go Territory. If that's the one your wife likes, it's going to help get her out there with the Jayco, right? And if it's also the daily driver, the Ford beats the pants off the Toyota (and almost all the other contenders in the large 'SUV' category) as it is so nice to drive and is extremely well designed and fitted out.
It will also go pretty well offroad (it has big wheels and long travel suspension) although the moment you lift a wheel it will stop - but you won't be taking it places where that will happen.
Once you establish your camping patterns, and this may take a good year or two, you'll know soon enough whether you actually need a serious 4WD like a Prado. And Prado is a great vehicle and should you choose that option you won't be disappointed.
We've had a 2005 Territory since 2007 - RWD TX 5 seater with a few TS options - and it has been a superlative family and travelling vehicle. There are some issues with our model but all have been rectified either through dealer bulletins during servicing, or through recalls. The new ones are sorted, and that diesel is a sweet motor indeed. If you want to research them, go to
www.fordforums.com.au and go to the Territory section, lots of very knowlegable people there. So far all I've heard there about the new diesel model is positive.
I'd happily trade mine on a new diesel one if it were our primary vehicle; we use our Patrol as the daily driver though. Our Territory will go soon so I can get a GQ Patrol for playing in the tracks
Mrs Squalo will be pleased when I'm no longer bringing the GU home with newly acquired character...
Resale on the diesel Territorys is going to be better than the earlier models (which like a drink, but that's about the only bad thing I can say about them).