Everyone told me that I would feel cramped, but I really don't. Yes it is a daily driver. To me, it has plenty of room, the only differences I notice are that the cab is not as wide and there's more room in the back seat area (as compared to my '01 access cab Tundra). To me, the Tacoma seems easier to drive due to the weight difference. I always felt that my '01 was off in the power to weight ratio, the '08 was good in that department, as is the Tacoma.
The biggest difference I see is in bed capacity, but since I don't really haul much, it doesn't really bother me. I would rather have the additional space in the cab.