Prerunner's is a term used very loosely. Kind of like overlanding. What is overlanding? Some say its extended travel. some consider themselves overlanders camping in tents for a night or two, some believe you need RTT's and have to be gone for a week. I guess both of those terms are very subjective.
In my area prerunners are very common but are not long travel. They are lifted have big fiberglass fenders and are 2wd. To me thats not a prerunner, to me a prerunner doesnt lift at all. They go wide not up, they pull big travel #'s they can be 2 or 4wd but primarily are 2wd. I think the term is used for when a race team preruns the baja 1000 or vegas to reno races and map out the course if there are any bad parts and mark them on the GPS.
I think there are level of prerunners. high end, low end, trailered rigs non trailered. Just like rock crawlers. The suspension tuning on them is simply amazing. The built ones have triple bypass shocks and each end of the shock can be tuned to be stiff or soft depending on where the stroke is throughout its range. These guys that valve and tune are talented. Its crazy they watch a truck hit a set of whoops and can just see how the suspension reacts and know how to adjust it.
The thing I dont like about prerunners is that most of them are 2wd. while you can go fast you cant go far. For me I am not a prerunner but do enjoy high speed wheeling from time to time, I have gotten air borne quite a few times but I dont have the money to really go crazy and put triple bypasses on. They are pricey!
I have seen solid axle rigs do prerunning but IFS is the preferred choice I-beams or A-arms.
For me, I think with enough tuning and money any setup can work well in any terrain. My brothers JK kicked ass in the high speed and it was solid axle and my IFS kicked ass in the rocks (usually its the opposite)