New here looking to buy a used GX 460/470

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I've been researching used GX 460/470's trying to determine which vehicle best suits my needs. I will be towing a lightweight T@b camper and I live in Colorado, so I will be traveling over high altitude passes. I currently drive a 2017 BMW X3 which pulls the camper okay, but I worry about the wear and tear on the BMW. I've owned a 2004 RX330 and loved it, but I need a vehicle with more off-road capability and power. I'm looking to stay around $20K in price and I think I can find that. I just don't know the differences between the 460 and 470 (other than engine size, obviously) and the differences between generation 1 and 2. Pro's and cons?
 
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Prices on used GXs have skyrocketed. Used to be, some GXs were not much more than 4Runners before the overlanding craze started.
 
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