I had a couple of 5th gen 4Runners which is basically the same chassis and engine as the Taco. The Toyota are a solid vehicle, but plain on features and creature comforts. One year they will add LED tail lights, the next year maybe a better radio. I hate how some (most?) auto makers milk the product line like that. Anyhow, what I hated about the Toyota V6 is that it's gutless. They can also be stubborn to downshift for quicker acceleration. The transmission also has an annoying shift point at city speed limit (50kph) which means in city driving it forces you to speed a bit in order to keep the shifts from going up and down. Mostly minor grievances, but I would still take a Taco (or 4Runner) over the Honda. Oh, and I just despise the front fascia on the new 4Runners - absolutely hideous.
Rob