My impression is that Rovers (old or new) are more comfortable than Toyotas. (We own, and have owned, both).
Reliability is a function of maintenance, knowledge, and ability to fix them. Rovers require attention, moreso than Toyotas. That said, as noted elsewhere, while they are rarely totally fixed they also almost always get you home unless they've been neglected or you are completely unlucky.
A good condition Range Rover Classic (RRC) will be fairly comfortable, particularly compared to other off road oriented vehicles of its age.
Were I looking to have a mixture of comfort and better than average Rover reliabilty for exploring offroad, I'd go LR3 (or perhaps Range Rover Sport (RRS) of the same vintage). It is worth noting these trucks are far cry from their predecessors in terms of reliability-while also upping their game in terms of comfort.
I would avoid Discovery 1's (though you can put RRC seats in them) since its a crap shoot to find one that has been maintained these days. I'd also avoid Discovery II's and their cousin, the P38 Range Rover, because those and reliability cannot be used in concert.
If you go newer, like LR4, you get a younger truck but at a higher cost than the LR3.
I'd suggest a test drive if you can find one locally, that will be the test for your back.
r-
Ray