Bilstein 5100 vs. 6112 vs.....

I have 6112/5100 on my '02 double cab. 6112 became the clear choice for the front over 5100 because of increased capability and being paired with springs as a complete coilover.

 

Your forgot the 3rd option (combo platter!) which is what I went with. 5100s/5160. For the fronts, I had the same question as you, from what I gathered from several sources 5100s are perfect for weekend offroading, regular recreational use (Sounds like you). 6112 are meant for more (Semi)professional (i.e. heavy duty stress & prolonged use). They aren't going to give any smoother/better ride on the road than 5100s. If money is no object to you, sure go for the 6112, but doesn't sound like they will be put to use. There is a significant price increase from 5100 to 6112

For the rears, I previously had 5100s all around, on my recent upgrade at 75K, I opted to put the 5160, mainly cause they look cool, the price increase wasn't that much over the 5100s. From what I read, the remote reservoir helps with cooling/dampening on a prolonged use (long drive on a washboard dirt road). 5100s & 5160s are both 46mm diameter, so contrary to popular believe, 5160s can also be paired with 5100s and not just the 6112s (60mm).

What I highly recommend doing doing while you are doing your shocks is replace your bump stops with softer upgrade like Durobumps, Wheelers, or Sumo Springs. Your upgrade suspension will not end the hard bottoming out, the upgraded bumpstops will.

Good luck, i am sure you will be happy with any of your picks

 

Also on the Taco for me, new leaf springs and shackles made more of a difference in ride quality than the shocks. YMMV, but if you have old blown leaf springs I’d spend some money there