How tall are you Shawn? I'm 6'1" and don't mind extended drives in the Tacoma, I've clocked ~300k in Tacoma's, figure my spine has matched the seats
Don't know what to say other than they are rock solid trucks. They have a couple of weak links but none that really effect a daily-driver or event a pretty regular wheeler. The frame rust is an issue, but very few here in Utah even had bad enough rust to replace, most were cleaned and treated by the dealer. My frame is actually getting a bunch of cleaning and paint this weekend (yeah, its fun) but mine has more to do with 100% sand blasted parts (rock chip blasting that is) and the amounts of time I spend in the corrosive desert and salt flats. I'd absolutely consider a 3rd Tacoma and in fact when I get back on level ground in my life I plan to sell my current Tacoma and start with something newer and fresh.
Things to watch for, manual versus electronic 4WD. The electronic ones can be problematic particularly on trucks that never saw 4WD use. Likewise on the TRD or factory e-locker models, lack of use can yield them useless. The fix is generally easy but worth looking into.
03-1/2 and 04' models are partial throttle by wire, while I've never had the infamous 'unintended acceleration' (which was 100% proven false btw) I have had several position sensors fail on the throttle body. Its 99% related to my Supercharger and I've now modded it to prevent future issues (knock on wood its been 30k without issues). Toyota actually warrantied both of the fixes.
Your welcome to come motor around in my truck if you want to see how you fit.