My brother got a ZR2 last year and so far, he is happy. The only mods he did are Method Race wheels from 4wheelonline and new speakers because the basic audio system has a very poor sound. His truck is a DD that sees little off-roading.
I own a '12 Tacoma and it suits my needs. The engine and trans are bulletproof. Never had a major problem with it so far. It is my DD but I do off road sometimes. I added fox shocks, a LED light bar and lift kit on it.