I thought all limiteds were automatics? Never heard of a 5 speed limited.
Pre-2001 the only way you could get AWD was with a limited.
2001-2002 all 4runner have AWD but no manual tranny option.
I've never heard of a 5 speed 4runner with the multi-mode t-case.
as for height - should be about the same, but remember that the 4runner has a nicely carpeted floor, meaning you can sleep directly on the floor with a small air mattress which gives you better headroom.
With a Taco you have the option of going to a high-rise topper, which is what I finally did after trying to camp in the Taco with the cab-high. It was too low, I always felt like I was sleeping underneath someone's bed.
Martin AKA Zapp Branigan KD0PHH
1999 Toyota 4runner, 3.4 Auto, rear locker, 265/75 Hankook Dyna Pro AT-M, B&M Tranny Cooler and Addicted Off Road tube bumper
Wife's Vehicle: 2006 Suzuki Grand Vitara 4x4/1995 YJ "Captain Morgan"
Other Rides: 2008 Triumph Scrambler; 1997 Mazda Protege (Daily Driver)
"I am the Man with No Name - Zapp Branigan!"