I have an 03 with the steps and an 08 with the tubes.
The tubes looks cool with the tube roof rack, but when youre driving thru puddles or rainy weather,...well, imagine the sound it would make if you were to take a hose spraying a full, fast stream of water at a metal tube. That hollow-metal sound...well, i hear it. Not to mention all the debris that hits the lower edges of the rockerpanels. Granted Toyota put some clear-protective film in the regions where debris would kick up, but in truth, im impartial.
There are no signs of rusting on the tubes, except for the small screws that hold on the plastic-step-area "put-your-foot-here" panels on. I replaced those.
When i step out of my 08, i have to over-extend my legs so my pants dont rub/touch the tubes, so no mud/water/crap gets on my pants.
The steps have never given me any problems.