The Tacomas are nice. I've never owned one, but driven them a few times. And the Tacoma will go places the Subaru won't. As others have said, knowing the limits of your vehicle will be valuable; and if you occasionally get stuck, it's no big deal.
I think part of the confusion here is that isn't clear how "off-road" you intend to go.
I think part of the confusion here is that isn't clear how "off-road" you intend to go.