I have a 2014 tacoma DC long bed as a daily drivier, and a 98 land cruiser fitted out for trips, camping, offroading etc.
Based on interior room and comfort alone I would always choose the 100 series for trips. Taking it down to George/sc/nc tonight actually for a week long trip. And this is with no kids, sometimes a wife and usually a dog. Add more humans and the interior comfort of the land cruiser is priceless.
You don't need much to make the cruiser very capable. Remove the running boards and add some decent rubber and your good to go.
I DDed my cruiser for a few months while I was waiting on the taco to be built. It was very comfy but I did feel funny driving 200 miles in a day sometimes, making sales calls in an outfitted rig lol. Stock my taco gets 20mpg, the cruiser all kitted out gets 13-15. So compared to your taco your talking 5mpg max difference.
If your thinking 4runner look at a 100 series too. There is a lot more interior room in a cruiser I think, albeit the 4runner isn't tiny. MPG will be about equal especially if your looking at a v8 runner