Having owned a 2007 Chevy Silverado and a 2013 Toyota Tacoma, I've got to say I preferred the Silverado over the Tacoma. Discounting the drivetrain (VERY different setups so, not fair to compare (2500 HD Silverado Classic Duramax/Allison vs V-6 Stick shift 4x4 Tacoma), the Silverado wins by virtue of higher quality interior materials and a better laid out interior, IMHO. I only had the Tacoma a month (3,000 miles) before I traded it in, in that month I could already see wear on the interior surfaces. (you could actually scratch some surfaces merely by trying to clean them with a cloth!) In the 4 years and 107,000 miles I put on my Silverado, the only interior wear was on three buttons of the stereo and a crease on the driver's seat cushion! (the crease was caused by the seat bottom cushion edge being squished a bit as I got in and out of the truck, I don't think I've ever seen a vehicle that didn't get the same crease)
The Tacoma was a VERY fun truck to drive, the V-6 was peppy and the six speed manually was quick shifting and smooth BUT, it felt more like a car to me than a truck. The interior was comfortable and nicely laid out but felt very car like and was not durable materials. Also, some of the finishes of the materials were not aesthetically pleasing IMO. The mixture of textures clashed a bit. Also, the fact that the radio was touch screen (a rather gimmicky one at that) but not Sirius XM compatible (and no Sirius XM compatibility even available) vs my Silverado had a simpler more intuitive button setup and included Sirius XM rather irked me in the Tacoma! The plastic bed, thin frame rails and spindly looking suspension components of the Tacoma were bothersome to me as was the correspondingly low payload rating (apples to oranges to compare a compact pickup to a 2500HD, I know). I am not saying that the Tacoma is a bad vehicle, just that it was not as much a truck as I had expected and it has materials choice issues on the inside.
I ended up trading the Tacoma after one month of ownership and replacing it with a brand new 2012 Ram 2500HD Power Wagon.
As for reliability, in the 107,000 miles I owned my Silverado, I drove it like an idiot (pretty much WOT all the time), towed 6,000-7,000lb loads a lot (and discovered that the Duramax can still spin the rear tires even with a 7,000lb load on the trailer behind it, LOL!), overloaded it a few times (pavers, dirt, sand, etc) and had only these issues in 107,000 miles:
PCM needed reflashed for having too tight of operational parameters (making it throw codes)
EGR solenoid needed to be replaced
One stereo speaker burned out (base model stereo)
What was amazing to me was that I never had to replace pads or rotors in 107,000 miles and they were still perfectly good!!!! (pad and rotor thickness were well within usable spec and were in perfect condition (by perfect condition, I mean no unusual wear, damage, warping, etc))
I cannot comment on offroad capability of the Silverado as I never wheeled it (it was DD/tow pig) nor did I ever wheel the Tacoma. I CAN comment on wheeling a full-size rig in general though, as I wheel my crew cab shortbed Power Wagon usually twice a month! It can be a challenge at times (tight tree lined trails here) but, I go everywhere the Jeep guys go!