Ignoring any body style preference, I would go with an 86-89 4runner or a 86-95 truck.
Im gonna get a lot of crap for this, but for moderate wheeling and use as a mainly pavement pounder the IFS walks all over a solid axle.
There are the obvious, well gone over benefits of each (IFS has better ride, better high speed; solid axle has more articulation), but the often overlooked weak link in the solid axle that is stock is the steering arm on the drivers side. I know that people have wheeled pretty hard with em, and I did with my old 85, but I also broke it in a 1 ft ditch with the tire straight ahead. Looked like the arm had been cracked for a while before breaking.
The IFS has the idler arm, which still can break, but usually the bushings wear out, which is noticeable and wont leave you stranded. Just a personal opinion on that for a mainly DD, easy wheeler.

22RE cant be beat for reliability, 5 spd transmissions are strong out of any toyota. Transfer cases are not a problem. Rear axles on 86-later are wider and have better brakes. IFS is not that weak as most say.

V6 would be slightly better for towing, but will get 50-65% the mpg of the 22RE. Gearing it right helps.

Passenger room is a plus in 4runner. Cargo room in a truck.

If you want a lift at all in the future though, be prepared for a PITA on the IFS.

I dont know that much about Tacomas, but every car I have ever owned that had rack and pinion had a problem eventually, and it was always a pain and $$ to fix. That was on cars, I cant imagine the wear and stress placed on the steering of Tacomas compared to cars... bad idea to me.
Look good though, and the motors are killer.