I have a 2000, and was very disappointed with the 16-16.5 gallons i could use (tested by running out of gas a couple times.) I took to "topping off" the tank, adding as much as 2 gallons after the pump had shut off. This method sometimes gets gas coming out the filler tube, and it yielded right around 18-18.5 gallons of fill from a dead engine. But that resulted in very strong fuel vapor smell from the charcoal canister about 1-2 hours after topping off. This didn't happen all the time, but it was enough to make me stop topping off the tank. Now I just let the pump shut off by itself.
So I spent waaay too much time pulling the gas tank to install the redesigned vent tube. Below is a picture stolen from one of the forums of the old and new units, mine looked just like this. The result was a fill of 17.0 gallons when the tank is run until the engine dies. The light now typically comes on when i've used 14.0 gallons.
Removing the tank was such a PITA, that I wouldn't recommend doing this, and I totally regret doing it, it wasn't worth the effort for 0.5 gallons. If you have a body lift though, it will be easier. I replaced the level sensor at the same time(recommended by the TSB), and that was a more significant improvement as my fuel gauge now reads more consistently.
Several years ago I swapped the tank on my '02 taco from the 16.5 gallon tank (standard with the 2.4L 4-banger) to the 4wd 18.5 gallon tank, and that was a piece of cake compared to the 4rnr. Both of the taco tanks were exactly as advertised when the engine dies from low fuel, 16.5 and 18.5 gallons respectively to refill, with no topping off.
BTW, the fuel running through the pump cools it. However, if it were anything but a Toyota, I might also be afraid of running the fuel low all the time.
For reference:
Dropping the tank
Fuel tank removal