2016 Tacoma or 4Runner Sr5

So this may be a bad place to ask but I am at a stand still. I cannot decide which vehicle I want. I am going to be a lot camping not a ton of off roading (trails). I was just curious if anyone had the same issue when buying their vehicle or can point something out I may not have thought of. I don't have a family now so not too worried, but plan to in 4-5 years.

Anything helps.