What issues have you had w/ the KB VooDoo rack, and are they specific to the Taco? Looking to purchase one for my Ram 1500.
So the rack I bought is the one in the link below. I was nervous when I bought it because I didn't think that it would support the 120lb roof top tent that I carry, especially in dynamic offroad situations. The owner confirmed that it would however, so I went on a whim and bought it.
http://www.kbvoodoo.com/shop/toyota-tacoma-hi-rise-crossbars-for-use-with-tonneau-covers-fits-years-2005-2016
In the time that I've had it, I've bent the back bar twice while loading and unloading the roof top tent. I reached out to the owner and received a free replacement. In an attempt to avoid bending in the future, I did a two-man load and unload, picking up the tent to prevent sliding along the bars, but came to find out that the bars were bent again. So not only were they bending while loading/unloading, but they were bending with just normal use of the tent itself. In addition, the bars were bending (compressing) at the mount points for the tent, and where the bars connect to the uprights. I chose to reach out to KB Voodoo to let him know of my issues, more from an engineer-to-engineer design perspective, and told him I'd be buying another product.
I made the rack function by replacing the bars that come with the setup with normal duty unistrut (home depot, super cheap), cut to the same length, then bolted to the uprights using standard unistrut 90 deg brackets. Since the installation of the unistrut, there's been absolutely no bending of any kind. With that said, the uprights still tend to "sway" back and forth while offroad, and before long I would imagine those snapping.
Do yourself a favor and have a local fabricator make you exactly what you want, or reach out to Relentless Fabrication to see if they can make you some bed bars. You won't regret it.
Sorry for the long-winded answer. This issue would not be specific to the Taco, but could however be specific to the model of the rack. If you're dead set on getting a KB Voodoo rack, definitely head towards their heavy duty option, although I can't guarantee the same thing won't happen with that setup. I can guarantee however that you'll avoid all of these problems with a solid set of steel, round tube bed bars.