Justin, I realize that your budget may dictate your decisions, but I would definitely consider a V6 if you are going to get an xcab, and especially if you are going to load it up with a bunch of camping/travel/offroad gear. Also, it would really be worthwhile to try and get a Taco with the electric rear locker (96 or 97 was the first year model to offer it, not sure which). Yes, you could always add a locker later, but if you get one of the factory lockers, you will not regret it.

Also, if you are looking at 95-96, you might also try to get one that has manual locking hubs up front.

 

It looks like this thread is a bit dated, but I have to comment..I bought a 4x4 Taco new in 95, that now has 280k miles. Maybe 200 miles of that were off pavement. I've just raised it up and put on some 33's. I would not hesitate to drive this truck anywhere (paved anyway-maybe not too much in the rocks) I've replaced the exhaust when the cat went and put in a K&N air filter. Other than that and brakes and tires, all I've done is change the oil! I've instructed my family to bury me in the truck when I die..

 

btw, it's a 4 cylinder. Factory limited slip that is still working, with 4:10 gearing. I have a Four Wheeler Camper that I recently bought and I'm ready.
For what it's worth, I would stay away from the V6's around that vintage. Toyota had lots of overheating/head warping issues then. A friend of mine purchased his truck around the same time as me, with the v6, and is on his 3rd engine at less than half the mileage.