That's what lift kits and bigger tires are for. IMHO, current 4x4 ground clearance is more than adequate for just about everyone except rock crawlers, and rock crawling is not a "normal" driving experience.
Toyota offered quite a few different sizes on each Tacomas made between 1995 and 2010, with different rim sizes (from 14″ to 18″) and different bolt patterns (either 5 lug or 6 lug).