I have an 09 4cyl 4x4 5 spd and love it.
I purposely did not buy the V6 because of the dismal fuel mileage reports.
I'd rather have a full size if I'm getting 17-18 MPG.
The current 2.7 makes good power. I was pleasantly surprised at how it holds 5th gear, on cruise, in moderate grades.
I have a heavy cap and pull a drift boat with it.
I don't think I would want the 2.7 with an automatic, although for 2012 Toyota is now offering it in the double cabs.
If you like a stick and are a "manual person" the 2.7 Taco may be for you.
If you're an auto person, get the V6. If fuel mileage is not a big issue you may like the V6.
The 5 speed is an Aisin, has almost exactly the same shift points as my old Jeep.....love it and the 2.7 4x4 comes with 4:10's which make it snappy.
Not a fan of the 6 speed manual. It's a Getrag and geared very differently than the Aisin. I could get used to it, I suppose.
It's more of a truck tranny with a deep 1st gear, but 2nd is too high to start off with, IMO.