Well the Tacoma and 4Runner never shared a frame, the earlier truck and 4Runner did though, the 3rd gen Runner was the first to have its own frame not shared with a pickup. This is good as the Tacoma was never fully boxed while the 3rd gen Runner is, well there is like an inch at the end that's not.

Personally after owning one mini and 2 Tacomas I can say my Runners did not drive like a truck, the Runners ride is much better than the truck, IMO. I call it an SUV, it just happens to be an SUV with real off road capability. To me any real body on frame wagon style is an SUV, those wimpy unibody designs are all cross overs and not real SUV's.