As a former Tacoma owner and a current F150 owner, I feel like I can contribute.
With the Tacoma (1996 V6 Reg Cab) I always wanted more room. My seat was all of the way back, my legs were cramped, and my head was brushing the ceiling. And I'm only 5'11". Newer Tacomas are bigger, but mainly in the width department.
And that little bed on the Tacoma was always a limiting factor, and I tend to pack lightly. The shallow depth makes them much less usable than you might think. Factor in the weak payload specs and it's really more of a toy.
However the size made it like a mountain goat on the trails. I felt like I could climb over just about anything. So about the only time I was satisfied with the size, was when I was on the trail.
Pictures of the Tacoma here
Now with the F150 I bought it brand new, and currently the only regret I have is not getting the factory rear e-locker.
So not wanting to go too much longer than the Tacoma I was used to, and still being maneuverable in tight spaces, I ended up going with a Regular Cab Standard Bed. At a 126 inch wheelbase it's about as long and maneuverable as a Tacoma Extra Cab, with way more room inside the cab and bed. And I can seat three comfortably (versus four uncomfortably for the Tacoma).
Pictures of the F150 here
Currently setup very well for offroad. I've got decent articulation, good skid plates, Low center of gravity, Good clearance under the tires, good approach angle, decent departure angle, good turning radius. Sucky sightlines with the camper, but you should be expecting that.
As far as overlanding, My girl and I set up a queen size matteress in the bed and just slept under the canopy. With some blankets we were plenty warm camping at 12,000 foot elevation next to a snow bank. There's plenty of storage behind the front seats for a cooler and other supplies.
I plan on building some shelving into the celiing to use for clothes storage.
I also plan on experimenting with a sleeping platform and a smaller bed, still not sure if we want to go this route.
You might consider this type of setup first before going to a full camper. The only thing I don't have with this is running water and a toilet.
As far as the 250 goes. Just the fact that you're even considering the Tacoma tells me you probably don't need the weight carrying capability of the F250. I've been down that route, and between the solid front axle and the stiff suspension I hated driving it. This is from a guy who also drives sports cars, so I like stiffer suspension. But when you can't even have a cup of coffee on the way to work it sucks. Plus when I had my Rubicon I absolutely hated how slow I had to go off-road. The benefits of an independent front suspension are something you'll be enjoying every time you drive the vehicle.
On to some pictures.
First one is about a year or two ago. You can see the winch cable coming out of the bumper. You can also see how easily this truck fits into a standard parking space, especially compared to the Lexus ES300 next to it.
More recent pics show the bumper , topper, and Fender Flares
