We traded in our 2002 Sienna for a 2010 Tacoma 2WD Pre-Runner w/tow package (6500lb tow capacity) last fall...mainly for the same reasons you're looking to switch. The Sienna worked and got us all around the West for the first year we had the TM, but we wanted something more robust with a much wider safety margin.
We went with the Tacoma rather than a bigger truck so we could still get it in the garage next to the TM.
A few cons for us when coming from a van like the Sienna:
1) Cargo area is not covered/secure unless you get a shell
2) You lose the 3rd row of removable seating (2-3 passengers)
3) Gas mileage in the Tacoma is about 5mpg worse than the Sienna
Depsite the cons, we've been very happy with the switch (we ended up getting a shell) and while the Sienna pulled the TM up and down the I-5 Grapevine without issue, the Tacoma feels much more solid....both UP and DOWN such grades.
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Former:
2009 2619 w/swing tongue
TV 2010 Tacoma Dbl Cab PreRunner
Prodigy Brake Controller/TST TPMS
15" Maxxis M8008 225/75R15
Honda EU2000i (Tri-Fuel Converted)
160W Solar/Morningstar Sunsaver MPPT
Xantrex Link-Lite & ProWatt SW2000 Inverter
Current:
2016 KZ Vision 23BHS
2015 Ford F150 SuperCrew 3.5 EcoBoost
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