Hey Brian, Well I tok the panel off my 03 Taco yours should be the same.
First thing go to a auto store and get the tool to remove the clips so you don't rip them or brake the off. (Pep Boys, Auto Zone
You also have to remove the 2 screws that hold the hand pull (there might be a filler cap on them)and the latch trim. next thing is the power button control panel, there is a clip, it should be on the top of the assembly that holds it down. use a small screwdriver but put some masking take on thr panel so you don' scratch ! Once you have it out, unplug the control. you also have to remove the black cover in the corner of the window that covers the mirror bolts. Now you can put that tool in the slot on the bottom of the panel.(you will see a slot just for that. go slow and move it around alittle until all the clips are undone. then you have to move it around very slow and lift, there are hooks the hold it down on top too.
Good Luck.. go slow and don't scratch anything..
ps: Brian check out this link, it has pics and gives instructions: