2007 Tacoma V6 PreRunner here.
Owned since I bought new in June 2007. 180,000+ on it now with almost zero problems.
Biggest thing I've had was a bearing cup in the aft driveshaft u-joint dried up at around 80K, causing a squeak when I drove in reverse. Easy fix...was able to replace all 3 u-joints myself. Took one afternoon, and I was taking my time. Driveshaft was super-easy to remove and install - just 6 bolts. Borrowed a little press at Auto Zone to get the old u-joints out and press in the new ones.
Other than that, let's see... Had a bad solder in the overhead compass/temp display that failed around the same time - had an avionics technician friend re-solder and it's going strong for 4 years now. Center console latch broke, intermittent problems with driver's side door microswitch that caused me to lock myself out of the truck once, valve covers are starting to seep a little bit now, after 9 years.
I'm on my 2nd set of front brakes...rear shoes still haven't worn out.
I've changed all fluids. Transmission was easy to flush myself using a write-up on a forum I found. Did that around 100K and will do it again at 200K. Transmission still shifting perfectly. Matter of fact it's the same unit that was used in the V8 4Runner, so it's overbuilt for this application.
Still doesn't use any measurable amount of oil between 10K OCIs.
Has never needed an alignment.
CEL has never come on... Still on original alternator, starter, etc.
Oh, I did also have to replace an idler pulley. Bearing started making noise.
I highly recommend.
One thing about Toyota vs. Nissan - my personal opinion is that the extra cost of a Toyota is worth it. In my view, the Tacoma is, overall, a more refined truck, in every way, than the Frontier. Just compare the 2, side-by-side. Interior-wise, just to take one facet, there's no comparison.
Another advantage to the Taco - it changed very little from the year it was introduced, 2005, to 2015, the last year before a clean-sheet redesign for 2016. So, even if you have a 2005, you still have a very up-to-date-looking truck.