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The Hiace is sadly not a "real" 4X4. It's not designed for bush-bashing or serious off-road adventures. The lack of ground clearance is the issue here.
The size of the wheel arches limits the size of the tyres you can get under there, and even if you go for the biggest that will fit, you will then need to change the diff ratios front and back which will be costly.
When I picked up my 4WD Hiace, it was SO low it nearly scraped on the ground!
Prior to me owning it, the van had a wheelchair lift in the back, and it seems they had lowered the van as much as possible to get it closer to the ground for easier access.
They'd put low profile '60' series tyres on it as well.
First thing I did was put it back on standard tyres - so check yours and see if they are standard size.
Next, I cranked up the front clearance. If you get under the vehicle you will find an adjustment that allows around 2" of travel. Problem with this is you can only adjust the front. There is no adjustment for the rear.
I have considered having the rear springs redone, which would raise the height - but given the sort of tyres I am running and the fact that I rarely go anywhere serious off-road, I doubt I will outlay the money to do it.
I think when Toyota implemented 4WD in these vans they were aiming it at people who need to climb snowy mountain roads to go skiing, or want to tow their boat across a sandy beach.
If you want a serious 4X4 then you have to buy a Landcruiser or something like that.
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