I also occasionally notice this. When I'm driving I feel more than content, I feel sturdy, robust, and then I park next to another "mid size" suv like a Tahoe or yeah even a large sedan and I think "whoa, my truck is downright svelte and dainty!" Half a second of size-envy evaporates as reason and pride return when I think about how the Toyota designers really maximized the interior space but kept maneuverability in mind always. I park places my gf's accord coupe struggles to go! I've been in friend's behemoth suvs and they can feel just as cluttered or tight, while adding slow and heavy. Yeah more headroom would be nice but that's any car.
As for minor details I like? The rear headrest holders for when the seats are folded is a nice touch I use a lot, the "hidden" center console top area is great and the tilting front headrest gives me more comfortable neck support, which almost makes up for the seat being way too short haha.