I had a 2011 DC Taco and now have a 2015 4Runner. There is a lot more leg room, and I find that the seats in the rear of the 4Runner are much more comfortable for adults as well. The Taco rear bench is very upright, but the 4Runner is laid back, and the seats even recline (though I don't think they do on the version with the 3row).
My wife does not have her knees jammed in the dash in the 4Runner like she did in the Taco, and she's much happier now. With rear facing seats, the Taco was very tight.
Dan