Well, since everyone is recommending a DCSB Taco I'll be contrary and put in a word for the 4runner or possibly Sequoia.
First of all, sit in a DC Taco before you decide - I've heard others say the back seats are far from comfortable. If you never plan on carrying adults in the back seat this may not be an issue but if you are using it as your regular car, it may be.
Not sure if this will also be a DD or drive-around-town rig but there are a lot of advantages to a wagon-style SUV, for example having everything in a climate-controlled cabin vs. having some of your stuff in a bed that is not climate controlled and will get covered in dust unless you seal your bed tightly.
For bad weather driving the 4runner or Sequoia would also give you a rear wiper and defroster, which is not an option on the truck, and if you go with a 4th gen 4runner (2003-2009) or any generation of Sequoia you also get multi-mode 4wd which essentially gives you an AWD capability that is great if you are on an intermittently icy or snowy road.
I've had my 4th gen 4runner (a 2007 V6 SR5) for a little over a year and put ~ 17,000 miles on it, and most of that was pulling a 1,000lb teardrop trailer and it's done great. Average mileage while pulling the trailer is around 16 - 18 and without the trailer it's 17 in the city and as high as 21-22 on the highway. The 4.0 is a great engine (and is the same one you would get in a DCSB anyway.)
The 5 speed auto is pretty nice - for a slushbox (can you tell I don't like automatic transmissions that much?

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Cost is a funny thing - although the 4runner is more expensive new, from what I've seen in the used market, the 4runners depreciate faster (maybe just because they are more common?) which means you can buy a used 4runner for less than a used DCSB and the 4runner usually has a lot of nice features that the Tacoma lacks.
Finally, if you are buying used, consider that while trucks are typically bought by people who take them off road or use them hard, SUVs generally speaking are 'soccer mom mobiles' and it's pretty easy to find used ones that are pristine.
In any case, check them both out, I don't think you can go wrong either way. :ylsmoke: