It all comes down to what you want to do with it. If you are going to rat bag it, taking it off road through and down nasty logging roads/ROWs then the Tacoma is better. If you just need a truck to haul oversize loads but will be mostly high way the Canyon is much more comfortable. I have 2 close friends who are Toyota mechanics, they see there fair number of Tacos. My dad has a Canyon and hasn't had to do anything beyond regular maintenance.
Neither have the payload capacity of a proper truck. Just can you can load can load 1500 pounds of people and equipment into them doesn't mean you should.
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