I personally wouldn't consider a 2nd gen 4runner/third gen pickup as "overbuilt"
. And if by rugged, you mean lack of comfort... Definitely. That being said, I will always have a soft spot for them. But I will always pick something post 1995 for a plethora of reasons.
Get away with what??? Let's be perfectly honest here... The Tacoma has become a glorified 4wd Camry and an "offroad" package is a sticker... Base model 4x4 truck still has the same drivetrain, and the same capabilities. What other brands/options are going to give you more than what a Tacoma offers from an "offroad" standpoint (not being snarky here, I'm curious what you think)? Every single one of these trucks are engineered and designed to be at home on paved roads as their primary function. The only company that differs from that slightly is Jeep... And even then, they put anemic engines and axles under them to save on costs, so they don't get my vote of confidence for anything anyways.
Don't get me wrong, whatever has happened to you really sucks, and I don't disagree in that I think the third gens are a bit of a flop overall.
My 2016 TRD OR drives like my moms 2005 Camry... Honest truth.