I went from fullsized to "compact". One thing I love is the width. Its narrower and easier to maneuver around trails, trees, etc as well as better baseline fuel economy. So while you loose interior space, you gain maneuverability. I also went across classes to an CUV from a Full Sized Pickup, and love the covered trunk I can sleep in with the seats down if need be.
Taco's have a huge aftermarket. Huge. And there is a pretty strong overland / offroad community for them. Depending on the year and engine there are a lot of common parts shared between it and the 4Runner family. From what I have heard about taco's is the fuel efficiency is just a smidge better then the f150 (base engine).
Just remember to open the door and have a good look at the payload sticker. This will equate to how much gear you can safely carry!
As for the Bronco.. Yeah. Ill believe that when it happens. So far we are still waiting for the rangers to appear. And when they come out the aftermarket is going to take a year or two to catch up. Well. Maybe not in the ranger's case as they have been sold overseas for a long time.