I looked at both the FWC and AT habitat and asked myself the same questions as you did. I found truck campers to be too cramped for me and I like a more open style. I also think the Tacoma is too small and underpowered for a camper, and at 320 lbs, the Habitat doesn't change the handling much. Agree with others that a camper will be quicker to set-up and take-down, as well as better for cold conditions. I didn't opt for the heater in the Habitat, but may get one installed - we were Anza Borrego over Christmas and a few nights were very cold and we felt it. Overall, it came down to how it feels, and every time I climb into the Habitat bed I feel like I'm in a tree house, it never felt that way in a truck camper.