Tacoma with the 4cyl engine is an old reliable design you can still buy today.
This is coming from a Toyota fanboy (owned 2 Tacomas and now drive a Tundra).
There's a video going over the new and old designs (pinned to where the 4cyl part starts): https://youtu.be/ei5yC4IdDhs
Wouldn't be too surprised if they retire it next year.
4Runners still have the old 4.0L 1GR-FE, port-injected. (and a 5-speed automatic! you're right about low-change mentality)
Fuel economy is roughly similar (>= 11.0 L / 100 Km), as far as I know, as is power.