If this truck is only going to be used for puttin' around town, I'd forget the double cab V6 and just buy a regular cab base model with the 2.7 and 5-speed manual. I owned a 2007 regular cab, 2wd, 5-speed with the 2.7 for a year and paid $10,000 for it. It only had 20,000 miles when I bought it and I sold it for $11,000 with 60,000. that truck consistently got 25 mpg in mixed driving. I now own a 2012 TRD off-road double cab 4x4 with the v6 and auto and consistently get 20 in winter and 22 in summer all day everyday. I hand calculate my mileage and with crappy Walmart fuel I averaged 19.8 last week. I rarely fill up at Walmart but I happen to be there and needed gas so I said what the heck. The 6-speed is actually an Aisin transmission and is fun but from what I have read it takes some getting used to and you lose 1-2 mpg with it. This is due to the overdrive gears keeping the rpm's too high. Not sure why Toyota calibrated this transmission like that but the auto does get better mileage with the v6. Skip the 4-speed auto if you get the 4cyl. it's a dog and constantly shifts.
Toyota greatly improved the interior comfort of these trucks in 2012 and my seats are more comfortable then what I had in my 2011 GMC SLT. Those leather seats suck. My seats in my 2004 Z71 were way more comfortable then my 2011. As for the Frontier, you'll most likely get a MUCH better deal on one then you will a Tacoma. I got $3,000 off of my Tacoma but they happen to be trying to get rid of the last 2012's and I got super lucky.