The Tundra is the only Toyota pickup that is available with a V8 in the US. For 2011, the 4x4 is only available with the 4.6L or 5.7L V-8 engines.
The Tacoma has an available 4.0L V-6 that is plenty powerful. I always choose the smaller engine when I have a choice due to fuel economy, ease of maintenance and overall cost of operation. All the modern engine choices, including the 4-cylinders, are much more powerful than the earlier engines.
As long as you don't need to tow heavy loads on grades, the smaller engine choice does very well. I seek out 4-cylinder engines myself...they're just plain satisfying and easy to own.
If you are located outside of the US, the LC70 Tray-back is available with a diesel V8 in some countries that would be a fun power plant although the diesel inline 6 would certainly get the job done.
For off-roading, engine size is less of a factor unless you are mudding or busting snow. For most trails, smaller engines are often easier to control and still offer plenty of torque through the low-range gearing.
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