 Have had no problems with this truck since new except a water leak (wet rug) which the dealer managed to diagnose & fix on the first try (a grommet located on the fire wall was leaking.)
I previously owned a 94 Tacoma (hilux) Reg Cab 4wd and found it to be a nice little truck; but I've found the 2000 to be much more refined and comfortable, by a long shot. 
The  2.7L 4 cyl has surprisingly good pick-up with the automatic trans, just don't plan on moving too fast with the bed loaded.