I own a 1997 Nissan Ext Cab pickup, manual 5sp, 2.4L I-4, 2WD, ~175K miles, bought new in 1997. Good for 1000lbs in the bed and 3500lbs off the hitch.
I would never had thought I would own this PU for 13 mother-loving years, but it just keeps on doing everything it ought to, with little fuss. I thought I'd have to toss it when the kids came, but I have figured out how to strap down toddler booster seats in the rear jump seats. If I bought something new (right now) it would be for some new/different functionality or because I got tired of driving it.
No major repairs until I replaced the radiator last year. (That was not the PU's fault, but the sledgehammer mechanic's, who tightened the hose clamp down so hard on the upper connector that he crushed it.) This year I replaced the valve cover gasket. The O2 sensor went out at 75K miles, too. It has had the usual maintenance over the years at the scheduled times.
Clutch is still good, but then I don't abuse it. Same with tranny & motor.
There have been times I wanted "moar truck," but 99.5% of the time, my little rice-burner does the trick.
Toyota PU owners usually see similar reliability. I think the differences are as follows:
1. Toyota PUs usually have higher-quality/durability interiors. Mine is still looking great inside, but I took exceptional care of the interior.
2. Toyota PU's usually have more durable paint jobs
3. Nissan PUs can usually be had for less $$$
I have no experience with either the Tacoma or the Frontier, but I'd pick the Frontier for looks alone.
Personally for $30K I'd skip a few options and get a full-size truck.
Hell, I'd skip a few more options and get the work-truck version of a full-sized 1/2 ton for ~$20K on sale or at the end of the year. But, I like the easy-clean functionality of vinyl seats and rubber flooring.
One thing I noticed is that the new 1/2 ton full-sized PUs get the same/similar MPG as the smaller PUs. The only true compact small PU left is the Ford Ranger, with its ancient design dating back to 1982. All the rest have bloated out to "mid-sized" pickups that cost as many $$$ and suck as much fuel as the full-sized 1/2 tons.
Yep, if I were buying today, I'd go full-sized 1/2 ton. The Ford 5.4L V-8 is a rock, the GM 5.3L V-8 is high-tech & has better MPG than the others.
Good luck.