Advice on buying used Tacoma

Hello everyone, after much research I've pretty much decided on a Taco.
It wont see any off road action. Mostly in town driving with occasional light hauling of construction materials. Also, because of the kiddos I'll need a crew cab.

My budget and what's available near me has me looking at 02'-04' with at least 100k miles. I know Toyota has a great reputation but I would like to hear what you all have to say. What major problems have you had? Should I be worried about starting off with that many miles? What about the frame issues that I've heard about?

Thank you all in advance for your help