I had a 4cyl 4x4 tacoma. It got about 18-20 mpg also. Not a big difference from the V6, and looking back, I'd rather have had the V6. I loved that truck though... Especially when we got dumped on with snow in '06.
I wanted a Tacoma over a Tundra but they wouldn't give me 0% on the Tacoma. I hate interest so I got a Tundra. Happy with it but it's a little too big for some of the smaller mountain trails...