my 01 dcab was doing the same thing... took it to the stealership at 85,000 miles, and had them do the carbon buildup cleanup thing, switched over to synthetic oil, switched up to 89 octane, did my timing belt at which time they discovered a leaking water pump... now at 95,000 miles and it hasnt stalled or had trouble starting up since...

01 Taco Double Cab V6 Prerunner