Michael, if you do a search you will find a lot of threads on the topic that all say that neither one is "better," it just depends on your needs. However, if you read between the lines on them you will see a lot of people who sold their Tacoma for a 4Runner and really enjoy the comfort, smaller size and enclosed cargo area. The tipping point seems to be whether there is a family involved, or in many cases people started single with a Tacoma and graduated to a family and 4Runner. A Tacoma is a "truck" and therefore cool where a 4Runner is a "mall crawler/grocery getter" and therefore uncool. However, I can't think of a single person I know who has gone from a 4Runner to a Tacoma, it's always the other way around.
Do a search and also read the threads about people comparing a Tacoma to a Land Cruiser as most of the same arguments apply. I personally have always been on the fence between truck and SUV because they both seem to make sense about half the time. I would say that if I were building a pure overland/travel vehicle I would go pickup instead of SUV because I think they are more flexible in terms of living options (slide in camper, flippac, low profile tent, etc.), but for a dual purpose daily driver/travel vehicle a SUV makes more sense.
I should also disclose that I have a family and two dogs as that completely changes the equation. If I were single I would buy an access-cab Tacoma with a Flippac or Four Wheel Camper and never look back.