I owned a 1gen tundra, which shared many parts with the taco. I also own a v6 ecoboost. Not the same, but relevant.
the toyota seat thing is pretty simple, they sit low with your feet forward. That’s one of the reasons the body lines of the taco look so good. Plenty of ground clearance, yet its not overly tall. Some folks are fine with it, and others want to have a taller chair where the legs drop down more. I didn’t have any issues with it in mine. Compare with the looks of the ranger and you’ll see the difference - it is as tall as a modern full-size yet less wide. Tacomas also use large tires relative to their size, and that unsprung weight, and (depending on the model) rugged spring rates detract from passenger comfort, while also improving stability and load carrying capacity. Softer sprung trucks conversely handle like jelly when they are loaded up. My tundra drove best with 500 lbs in the bed. It beat me for hours on the interstate empty.
the rangers 2.3 is in seemingly half of fords vehicles right now. Ranger, focus, escape, explorer, maybe more. I was extremely impressed with it as a loaner car. it has the sportiness of a 4 and yet could dish out all the power the loaner explorer needed. Very smooth and balanced. The eco v6 in my f150 is a remarkably well tuned/programmed engine, and the transmission programming is as concise as that in my Lexus. And for a full-size truck, 20.9 avg mpg is outstanding. I really really like the ecoboost implementation. Icing on the cake, tow mode programming is superb.
there are notable differences, however, too. Ford uses more plastic where toyota will stamp metal instead. The weatherstripping in the toyota was thicker, and the doors stayed tighter, longer. I’ve had quirks developing in the f150…. had transmission hiccup the dealer couldn’t fix, lost AC at 1 year, one window switch doesn’t always work, the interior is starting to creak, it has a super slow coolant weep at a known problem o-ring, and sync3, while one of the best-of-breed, changes pages if I hit a bump amidst a left turn. That’s a lot in 4 years. the ford has more quirks, hands down.
but if I had to choose between the ranger and the taco, for my use (commuting, occasional towing, haul the rider around, etc), it’s the ranger. If I wanted to run trails, toyota.