Sorry did my test drives Monday after work and was pretty beat after. Here's my summary:
First I drove the ZR2. I was pretty impressed impressed with how it drove on the highway, honestly better than my '04 CR-V. Obviously it wasn't a sports car but overall very please. I was comfortable enough, no headroom issues with a hat, and the view out the front was good despite my height. Interior was fine, not stunning but I also don't really care. Only real interior miss is no push-button ignition. Definitely not a dealbreaker. It seems to have adaptive cruise but not lane assist or blindspot alert. Looking back at my list it checks all my boxes with potential debate around reliability and maint cost. With the exception of CR (which, I realize, isn't a great source) it seems pretty well liked outside of the 2014/15 years (I understand these issues and they've now mostly been resolved). So yeah it's a contender.
Next I drove the Gladiator Mojave. The Overland had already been bought so I couldn't drive her (probably not what I'm looking for anyway). Definitely didn't drive as nice as the ZR2, handled a bit more like a fullsize, but honestly not terrible. I did notice the solid axle wandering a little bit but the lady at the Jeep dealership let me hop on the highway for a few miles and I didn't have any issues. Seat was fine, since I'm tall visibility out the front wasn't ideal. Interior is fine, a bit more modern features than the ZR2. Roof is my biggest concern, and the fact that the FCA fleets are extremely loaded. They had one soft top that was 47k but the next cheapest Mojave was almost 60k. Yikes.
Next I drove the Ram 1500 Rebel. Handles pretty well, definitely a boat. Interior is honestly a bit much for my taste, not a deal breaker. But I have some pretty big concerns about having a full size while living in the city. Similar problem to the jeep where the MSRP is reasonable but they're all 70k with all the options.
Finally, I decided to swing by the Toyota dealership. Test drove the mythical TRD OR DCLB just because they had one. Was loaded up with a ton of aftermarket extras to the tune of 56k OTD but what the hell. I did fit at 6'3" but it wasn't great, had to lower the seat a bit which kind of put my legs up in my lap. Handling was a little bit better than the Jeep but the acceleration was really pretty lame, worse than any other truck I drove including the FS. Also nose dived noticeable when breaking. For the bone stock DCSB TRD OR, they were asking above MSPR, plus it would need at least the factory lift and some AT tires at a minimum to get me going. So the value really isn't there. Plus they seem to be having almost as many issues as the other midsized trucks.
So I guess right now the contenders are the ZR2 and the Mojave Gladiator. I still am considering waiting for the 2022 Frontier and I guess still need to drive the Ford offerings.