We traded an 05 Grand Cherokee for an 04 4 Runner last year and remain happy with the exchange.
Grand Cherokees are really nice the first few years but don't hold up well in my experience (both owning one and working at a Jeep dealership years ago). My wife, who is about 5'9, my dog, who is about 24 lbs., and me, 5'4, sleep in the back of the 4 Runner comfortably. The Jeep made a good hotel, too, but the Toyota wins if not just for the simple fact you can roll the back window down when sleeping back there.
The Toyota is more capable off-road, more reliable and gets significantly better mpg - 17-22 - vs the Jeep's 12-15. Of course that's a Hemi vs a V-6 so you give up some (a lot) power, too. The Toyota has enough power, though. The Jeep was quieter, nicer, had lots of bells and whistles, more power, and more problems.
I've had a Wrangler, the Grand Cherokee, and now the 4 Runner. The 4 Runner is a nice combo of the two Jeeps - still capable and utilitarian, but more comfortable to drive on long road trips than the Wrangler and the added plus of sleeping in the back.
"You may say I'm a dreamer, but I'm not."