I've got an '01 ST 4X4 with 37K on it, and overall I've been happy with its reliability. I've had a couple of minor issues (bad fuel pump from the factory, belt tensioner went kaput a year after I got it, rear window was sticking, etc.) but all were fixed easily and under warranty.
The only major problem I've had is the front brakes. Had to replace everything (rotors, calipers, pads) about 2 1/2 years ago, then thought I'd have to replace them again last year when the caliper piston was once again sticking. Luckily, the piston freed itself and the brake shop was able to get it sliding correctly again. The guy there did say, however, that this problem was common and that I'd likely have to replace them in the future, he just didn't know when.
After driving a Tacoma that went for 14 years and over 130K (Dad kept it after me) and never needed a caliper replacement, that didn't make me too happy.