Well using the 4Runner vs Tacoma Crew cab as an example:
4Runner WB= 105.3 Rear LR= 34.9 Base Payload= 1355 Towing 5000 Frame fully boxed
Tacoma DC WB= 121.9 Rear LR= 33.5 Base Payload= 1395 Towing 5000 Frame partially boxed and weaker.
The 105-106 Wheel base is one of the best for off-roading, other vehicles that use this are the Jeep Unlimited TJ's, Ford Bronco's 70's-90s, Chevy K5 Blazers 70's-90's. Jeep Cherokee's and Grand Cherokee's
With the DC Tacoma you would need to have a couple more inches of lift in order to have the same break over height.