My dad has a 3500 6 speed Cummins like in the video, with a bunch of Banks Racing junk on it. His truck is a total tow monster, but the 4Runner is a lot more comfortable. He regularly pulls a 28 foot travel trailer that he and my mom tour the country in, and I don't believe for an instant my 4Runner would do nearly as well.
Your freind with the truck is a really nice guy. If I had been in that truck I would have dragged you around the block a couple times for being silly enough to chain up to a truck like that.