I have a 99 4runner and a 96 taco to choose from. Whats everyone else using and I would like to get the pros and cons on both.
Welcome to ExPo, Michael! Glad to have ya... Seein' as you're a new member, I'll go ahead and break the bad news: There's no such thing as an "expo" rig.

Sorry.
ExPo is a website, not a truck. (See "Basic Definitions.") I think what you're talking about is an overlanding or expedition vehicle.... not flaming ya, buddy, just clarifying a common misconception.
Now, both trucks are a great choice! My answer starts with another question:
When you travel, what are the things you value most? All things being equal between them, of course, the two most important factors are pretty well proven in these trucks: reliability and serviceability. The Taco and 4Runner have both in spades... Instead, I'll highlight things like comfort, load security, capacity, efficiency, and maneuverability. How you use your overland vehicle and what you prioritize as critical needs are the single-most important factors in choosing its platform.
That said, you offered little details about either truck. Although similar, what model each is will have a significant impact on their capabilities... Tell us more about the engines, drivelines, and condition... For example, is the truck dbl cab, ext cab, or short? How about lockers and rust or mileage? Etc...
Glad to help, just need more info for accurate pro/con list. Thanks!