I like 4Runners (hence my username), but I think the Tacoma is the better choice for right now. IMO, the 4Runner is overdue for a 6th Gen.
I compared the Tacoma TRD Off Road to the 4Runner TRD Off Road - and bought the Tacoma.
Pros for Tacoma:
Better Safety (actually a IIHS Top Safety with the LED headlights).
15% Better MPG - means about 60 more miles per tank (Probably because the 4Runners extra 300 lbs of weight and older engine, but overtime it adds up).
Nice interior hidden storage under the rear seats and behind the rear seats.
Better towing - we are looking at a couple travel trailers and it gives us more choices.
Blind spot monitoring is really a nice added safety feature.
Tacoma Off Road does not have the fake (non-functioning hood scoop) - with the 4Runner I would have had to swap hoods or buy a scoop-free hood which would be a hassle.
Better resale - In 2019, the Tacoma was the #1 vehicle (including cars, subs, and trucks) in resale value. The 4Runner has great resale, too, but even 4% less than the Tacoma at 3 years is about $1500 difference.
The Tacoma has more headroom, shoulder room, hip room, and leg room. They are very similar, but the xtra 1/2 inch here or there help.
I have used the bed in the Tacoma more than I thought I would and it really makes this vehicle very versatile.
When/if the 6th Gen 4Runner comes around, I reserve the right to change my mind - lol