I live in Rapid City and have ridden many of the trails around the area in my Ranger, SXSs, and my dirtbike. There is a lot in the hills a stock Tacoma can do, but a lot you will wish you did not attempt if you end up down the wrong path. Avenza Maps works well in the hills pointing out which trails are which, as many of our trails are restricted to 62inches or less and mean it. If are looking to download maps in Avenza for the area, I recommend looking for ones titles Black Hills Receation Maps. There are 3 or 4 of them for the area. They're free so get them all.
I'm pretty fond of Railroad Buttes in the Buffalo Gap National Grasslands about 30 minutes east of Rapid off Hwy 44. It's more of a Badlands type terrain than the hills. For an experience in the hills, I like taking the Piedmont Trailhead from Piedmont (about 15 minutes west of Rapid) to Dalton Lake. From Dalton Lake you can really enter the heart of the hills and hit tons of trails, but again pay attention to width restrictions and trails dedicated for rock crawling.