Awesome trucks, I absolutely love mine. Best years are 04-06, stronger front end, upgraded transmission, and better brakes. That said, mine is a 2001, but I bought it last year with 50k miles, so I'm not complaining. I put over 30k miles on it last year and I like it more every day. Rust issues are definitely a concern, make sure you don't get one that has a history of living in the rust best or northeast. I personally like the access cabs - they are more narrow, cab is not as tall, full 6 foot bed, 4 feet between wheel wells. Same dimensions as the 2nd gen access cab tacoma, but more room inside, nicer finish, better seats, better motor, easier to see out the windows, etc. TRD off road package is basically just a sticker, although some came with rear LSD. Double cab trucks have the roll down back window which is the cats meow.
These are very reliable trucks. They do need the belt etc done at 90k, so make sure that work has been done if you are going to buy one, or factor that in to the price.