I have a 4Runner that I use for most of my hunting but I also have a 1/2 ton crew cab pickup. If I had to choose just one 4x4 to own it would be a truck no question but in the end it really comes down to personal preference. There is no perfect option and you can make many different vehicles work.
The 4Runner is without a doubt more nimble and easy to manage than a full size truck offroad and a fair bit better than a mid-sized truck for that matter in my opinion (ground clearance is a little lacking from the factory though). Better traction offroad than any truck I've owned. If you are going to bring an ATV / UTV anyways then it might not matter much though.
The 4runner drives nice and comfortable (so do full size trucks) and is great for sleeping in the back. It is great solo, but starts to get a little tight with two people and gear. More than two people and it lacks space. Of course you can add a hitch rack, trailer, or throw stuff on the roof and have plenty of space but then you start to take away the advantage of the compact size. Generally if I'm driving more than just myself I take the truck.
It seems like cost is a concern for you? If going new the 4Runner is more expensive than a Tacoma and will have worse value when it comes time to sell. It is still a lot cheaper (and probably more reliable) than an F150 but there are good 1/2 ton trucks that you can get for the same or less than a 4runner. Buying used and you can get a pretty decent deal compared to a Tacoma and probably most full size trucks until you get into the higher mileage options. Gas mileage on the 4Runner is pretty bad, probably worse than most full size 1/2 ton pickups on the highway. I get about 16mpg highway in the 4Runner with a small lift, 33's, and an empty roof rack if I keep it to 75 mph or less. 16mpg in town as well. My pickup gets much better than that on the highway, slightly worse around town. The 4Runner is also pretty pathetic power wise compared to the pickup (Tacomas are pretty anemic as well).