not in my 3rd gen but my 2nd gen
I had a Nordskog digital tach in my 95-2nd gen. Runner
It worked great and was the small 2 & 1/16" size.
It fit in a small "cup" atop the steering column-I found it real helpful in finding the best RPM for shifting-on my old 22RE you really had to wind it up to achieve some speed.
The 3rd gens tach works so much better than the 2nd gens-I just really don't see the need now.
As for the hookup I believe it is fairly simple-but I don't know specifics-the instructions came with the tach and I had a "ricer speed shop" install it in less than one hour of labor.