A first car is always a tough decision. At least you have it narrowed down to two vehicles. Both have their merits, but it all comes down to what you value most in a vehicle.
Both the Honda and Toyota were top scorers in reliability, so either one will serve you well there, and they both come with V-6 engines and in crew cab configuration.
If you want to do some minor off-roading, I would say go for the Toyota. The V-6 is a little stronger for off-road driving, it has much better ground clearance, and it offers a true 4-Wheel Drive system with Hi and Lo range modes. If you want gas mileage, the Toyota is also the better choice, as it gets 1 mile per gallon better city mileage and the same highway mileage as the less-powerful Honda. Toyota also offers a manual transmission, which will increase mileage, and a 4-Cylinder engine, which increases it even more. Toyota also offers regular cab and extended cab models, which weigh less, which equals better performance and better gas mileage, assuming you don't need to carry more than three people. If you plan on hauling anything beyond people, the Toyota is also the better choice. It has a body-on-frame design, which allows for the hauling of more cargo and much heavier trailers than the Honda, and it also offers a longer bed. The Toyota can also be bought for much less than the Honda, unless you want a crew cab with the 4-Wheel Drive and a V-6 with an automatic, in which case it's only slightly less.
On the other hand, the Honda offers a more carlike drive thanks to the unibody design and a smooth engine with an automatic-only transmission. The back seat is also more comfortable than the Toyota's, and the ride is nicer too. The Honda's not good for off-roading, not good for hauling anything beyond light payloads, and not good for gas mileage (it's only rated at 15 city and 20 highway - I had a 1990 Ford F-150 4X4 with a 6-Cylinder that averaged 19.5 miles per gallon).
There you have it. Unless you value comfort above all else, the Toyota is the way to go. However, I would also suggest looking at the new Ford Ranger which is coming out soon. The old model was rated as the highest-mileage compact pickup, and is one of the cheapest you can by (next to the Chevrolet Colorado). Thanks to the good gas mileage, smooth drive, good off-road performance (particularly with the FX4 Stage II and Stage III packages), and cheap price, it was ranked higher than the Toyota for years, until Toyota's redesign recently. I expect the new model to leapfrog the Toyota once again. If you don't mind waiting awhile, I'd say wait for the Ford. If you need a truck now, the Toyota's the best bet.
I hope this has answered your question. If you have any more, please feel free to ask.
