For a semi-full size occasional light duty tow rig I'd take an 05+ taco over a pre-07 Tundra.
For a mini, and for all but a work and backer or dedicated solid axle crawler, I'd take an 01-04 Taco over ANY pre-96.... the 01-02 Taco is the epitome of the 1979-2004 design cycle/philosophy.... as is the 99-00 4Runner.
For a full size, the 5.7 CrewMax smokes them all soundly.
I've owned well over a dozen..... an 85 XtraCab, 02 Double, and 10 CrewMax are still here...
The original 80s/90s Japanese design philosophy died with the 04 Taco and 02 Runner IMHO.