I'd be looking at a 2nd generation Tacoma, I'd pass on the newer versions. Assuming off road performance is more important than towing or hauling.
The Ford Raptor checks all of the boxes in a 1/2 ton, but those things are expensive. The bells and whistles aren't worth what they are wanting for those to me.
From a purely off road perspective I'd have to look at the Jeep truck. Not sure I'd buy one, but I'd at least research them.
