Hmmm. Good question. The Tacoma is lighter than the Tundra, but weight can be shed. If you are trying to keep this as a daily driver, I'd go with the Tacoma; better mpg, and the V6 is pretty quick. If you are going full out off road racer, I would pick the Tundra. After suspension mods, and losing the fat, a V8 vvt-i would be much better.
The Tacoma 4x4 Off-Road is also available with a 6-spd manual, the Tundra isn't, but I'm sure you know that... I'm not sure if the Tacoma Pre-Runner editions are available with the manual transmission though.
I've seen plenty of tacos baja'd out around town. Very seldom do you see a Tundra that is done up right. Would certainly be nice to see, but to live with?..
Hope that helps.
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