I spent the morning doing a bit of searching.. On recommendations from people on the tacoma forums:
People say these fit 16" wheels. There is a 16" wheel rotor option when ordering (even though I just noticed the link says "fits-17-plus-wheels". Larger than OEM.
And then some swap the rears to disks.. But for me that would require changing the master cylinder. Apparently if you don't, there's not enough pressure in the system because the new rear breaks have more volume for fluid..
There's a 'big' option for that too, but I think is too big for 16" wheels.
As for just replacing pads, ntsqd is right that everything is a compromise.. But that compromise might be less dust and longer life with the OEM, which is a trade-off I'd be willing to make on an off-road truck.
I get everything in the article JHanson posted.. W/out larger mass for the heat, they'll still fade. But for a situation like ours (or at least mine), I'm not having issues w/ long sustained down hill braking.. I down shift for that anyway. I have issues making an emergency stop, which it sounds like different 'performance' pads could help with.