I feel like I can kind of chime in on this. While not a Tacoma, my wife’s daily driver is a Colorado ZR2 and my daily is a Ram Power Wagon. For around town and on tight trails, the ZR2’s size is a huge advantage. The ZR2 is easy to park, turn around, and get through tight places. That said, I wouldn’t trade my truck for hers as a daily driver. I prefer the bigger cab and ride height as well as the bigger truck bed and towing capacity.
For you, you need to decide what you really want and need out of a truck. I don’t like the seating position in the Tacoma, but that doesn’t mean it’s the wrong truck for you. I’d say try to drive the Tacoma and the Ford back to back, and let the trucks speak for themselves.