I felt the same when i test drove a tacoma a few years back. I like it a lot, but unfortunately i just don't fit inside very well. I found it very cramped inside!
my friend has a 2013. We went to Vermont with it (4 people). There's actually plenty of room.
I was in the back seat. While I wouldn't want to be there for a huge trip, it was pretty good. Far more room than my Matrix and more comfortable too. As a driver or a passenger I certainly couldn't complain of the comfort or space. The one downfall is the truck doesn't have a huge amount of nice storage spaces. The Ridgeline is far better.
