I have an '04 TJ Unlimited too. 35s, Currie Dana 44s front and rear, Detroit locker rear and ARB locker front, 4:88s, 4-1/2" lift, Genright longarm, Genright tank, auto, tummy tuck, Warn winch, bumpers, sliders, full armor, etc. Im about $20K into it and once I find a 4:1 case (or Atlas or Rubicrawler) Ill be done. I also have an '11 Tacoma double cab TRD OR with a Softopper, sliders, 265/75 Duratracs, and a few other goodies. The Jeep drives great on the highway, is an absolute beast on the trails, but the Tacoma is hands down the better choice for overlanding and camping because of the extra capacity, comfort, and towing capacity. It won't comfortably tow a lot of weight in the mountains but it handles weight and towing a helluva lot better than the TJ. And the Taco will get me into and out of pretty much anyplace I need to be and a lot of places I really shouldn't.Found 'my' perfect Jeep though, a 2004 Wrangler Unlimited w/automatic, 4.5" lift, 35" tires, ARB air lockers, lots of etc. I recently installed an Atlas II transfer case, and now it's perfect. I'd never consider it as an overland vehicle though, it's designed for rocks of Moab, and other hard-core rock crawling. And going to town for a 12ver of cold beer. I have 25K into it total.
I saw a Tacoma TRD the other day, was very impressed. I'd go with the Toyota over a Jeep if overland travel, RTT and all the whistles and bells, is your plan. If you want a rugged truck for exploring, and gonna pitch a tent, I'd go with the Jeep.
Just wait a year or so and buy the Jeep JL truck, it will have the conveinence of the Tacoma but with the hard core utility of a Jeep. Plus it sounds as if you can drop the top, windshield and shed the doors if you are so inclined.Dam this is going to be a hard choice.