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The trans is technically the same (RE4R01A), but it had some revisions over the years, and from what I've read the one you have is pretty much the strongest available variant. Converting a 2WD trans may be possible if you don't mind tearing it apart to swap the output shaft, but I don't know for sure what would be involved with that. The VG33 one would need the bellhousing swapped, which IIRC bolts on from the inside for some reason, and I don't know that the torque converter is the same. Unless you want a science project, probably best to keep looking for the right box. My '93 has a very lazy 1-2 shift under load. My '95 slammed second like it owed it money. I suspect both have/had an accumulator issue, though I don't know these transmissions well enough to know what else it could be. A friend of mine replaced the accumulator pistons and springs on his S10 Blazer (4L60E) when it started acting up, and that bought it a few years before the next thing failed, so that might be worth looking into. I plan to leave mine alone until it gives me a reason to swap the whole thing out. Before assuming it's actually broken, though, check your fluid level and condition again. Could be it's got a slow leak somewhere and it's acting up because it's low.

It sounds like you've already done some offroading and enjoy it, so I'd encourage three essential mods; none exciting, but all very important to having a good time offroad and keeping your dad happy. 1. Maintenance. Make sure everything that is broken is fixed. Worn out suspension bushings? Replace them. Check engine light? Check codes and address. Etc. 2. Comms. It's best to never go offroad alone, especially if you have a pretty much stock vehicle, and a good CB or GMRS radio makes it a lot more fun so you can chat with your friends while driving. They can also make a good emergency device if you can find a channel somebody is listening on. 3. Tires. No need to go crazy. 31's should fit stock (especially if you go for a skinnier size; I'd shoot for about 10.5" wide, so if you have 15" wheels stock I'd go for 31x10.5R15). If not you'll only need the slightest bit of trimming. If you go larger than 31" you'll need offset wheels and they you'll have way more rubbing due to increased scrub radius when turning and the tires may not tuck behind the wheel arches anymore. A good tread pattern will make an enormous difference, I'd avoid the mud tires for a daily driver and stick with a good all terrain like BFG KO2 or Falken Wildpeak AT3W. It's not an exciting list and the visual difference will be close to nothing, but those few things will really allow you to enjoy your vehicle to its fullest without blowing a ton of money on it or making it unpleasant to daily drive.

Welcome to NPORA, good looking wheelin rig! Hope ya don't lose your Yota, but if so I'm sure you'll be very happy in a Nissan. I had a '02 QX4 myself, so I'm pretty partial to your rig haha.

Welcome @buchwe @JMC @DantheHitman! Glad you all found NPORA!