I have a 2016 SR5 4x4, I sold my 2000 Tundra TRD 4x4 to buy it. Initially I was concerned about the lurching while idling and trying to move the truck, it seemed like I would hit the cars around me. But my service manager gave me some good advice...be sure to warm the engine up, then it won't lurch. Good advice since two of the most important things that you can do for a long living engine is to change oil as directed and warm up the engine. So I've found that by letting it warm up, even if I've just been in the store for a while, letting it idle while I check texts, greatly reduces the lurching.
This truck is made very well, drives on and off road very well, tows well, and looks very nice. It doesn't have to be about one gen/model being better than another, just stick together and say that Toyota trucks rock! Be united, rather than stabbing fellow Toyota owners. As said, each gen has had its issues. Also, my trans fluid level was good, I even have the tow package, and my differential doesn't leak. The Ford F-150 has its own issues as well...