It will, but the overall length will be about an inch shorter. If you have access to the manual drivelines, that’s the way to go. I have auto shafts front and rear still- the front is so compressed, it was a NIGHTMARE to get in- far from ideal, but I’ve used the 4WD several times without issue. The rear is extended further than I would like, and I wouldn’t run it like that if I were rock crawling, or any other off-roading where I would be drooping the rear end down with load on the drivetrain.
If I was using a j-shift or even push button case, I think I could use manual shafts. But because I’m running an AWD case, my only option is custom shafts. I have a j shift case I could swap in, but something about the AWD option is cool to me. Easy to steer on sections of dry pavement, then locked up again with the push of a button. It actually works great for the PNW snow, and I have been in 2’+ deep snow with open diffs and not even in 4WD, and I had no problems at all. That was on baby 35” KO2. Never needed to lock the center diff. It gets weird when you don’t lock your hubs in and out it in “4WD”, but you can’t actually go anywhere unless you lock the center diff.
I saw you’ve already started, but are you aware of the VSC/ABS/TRAC issues with manual swapping an ‘01/02?
I guess it depends what all you care about working or not, but I wanted everything to work like factory, so I have the factory clutch start cancel switch, my cruise control works perfectly, speedo works, and I have no check engine light. Well, I actually do right now, but that’s unrelated. Oh yeah, and do you prefer manual or power brakes?

I used a spacer for the rear shaft. Maybe 1"? I cant recall, but there are probably details on that in my thread on TTORA.

@Tyler James Inc

I’ve looked into it quite a bit and hope to bypass some of these issues with a 2004 manual Tacoma and engine wiring harness. I’m wondering now if the taco harness is going to work with my electronic brake booster. I am not opposed to swapping to a manual brake system but would like to keep ABS. I don’t care about losing vsc/trac. I’m a tad nervous about wrong up the cruise and clutch start cancel but I feel good about the rest of the swap. I already have my clutch pedal and master mounted and am making do with the big computer hanging down. I may make a wiring extension and tuck it in the glove box. Any thoughts or advice?

Also, @Tyler James Inc

Did your j shifter work with your front diff? I know you switched back to the electronic transfer case shifter but was wondering if you tried getting it to shift into 4 wheel with the j shift before swapping it back to the electronic one.

Great thread. I may end up going this route.