For the price, a Frontier SV is hard to beat. I had an Xterra (same platform and drivetrain) and I really liked it. Hauls 1,500 lbs. Can tow 6,000+. Mileage wasn't any better than today's full size, but you can pick them up new around 23-25K, depending on cab configuration.
I currently drive a 2012 Nissan Frontier Crew Cab SV and like it a lot. In the past I owned a 2005 Tacoma four door and like the Frontier much better. I have a longer torso than legs and the the Tacoma had weird ergonomics for me. It seemed to have a low roof line. Also had to move the seat up because of shorter legs and always banged my knees on the low steering column getting in a out of the truck. The ergonomics on the Frontier are much better. What I like about the Frontier is the what you get for the price. Some say it's spartan, but I like that. I don't need or want a lot of fluff in my truck. I don't mind the plastic door panels and dash since makes it easier to clean. I also like the fold up back seats allowing me to use the floor in the rear passenger compartment. You don't get that with the Tacoma. The cruise also holds better on the Frontier without a lot of down shifting. The Tacoma seemed to down shift with any sort of small hill. I've driven my Frontier across the country and averaged 22 mpg with the V6 and have pulled 16ft low boy trailers loaded with fence supplies without any issues. I think the Tacoma is a good truck, but it's not for me. Take a look at the Frontier, you might be surprised.