I used Thule xtrasports on my 2009, but later equipped it with a cap and rack. I sold the Xtraport racks. But, I frequently decapped the Taco to do truck stuff—hauling firewood, mulch, gravel, piles of bicycles, etc. Then, to my horror, I discovered I had no way to carry a boat! I bought another set of Xtrasports. They are a pricey, excellent solution if you need to keep your bed open.
I used a DIY, PT 2x4 on my ‘88 Toyota pickup, and it migrated to my ‘02 Taco. The base of the rack was a rectangular frame of 2x4’s that laid on the bed, and there were braces for the towers that went from the frame to the towers at a 45-degree angle. It also had a wheeled stand that dropped down when the rack came out of the bed. What was cool about that was I could remove the rack with my canoe tied on, then wheel it to the side yard and park the canoe-laden rack until I was going to go boating, then wheel it back into the bed where it got ratchet strapped to the tie-downs. A disadvantage of the DIY racks was that the rack and wheel-stand took up a lot of space in the bed.
The demise of the DIY rack involved an overhanging tree limb. I saw a guy in Connecticut that had a similar tree limb experience with his Xtrasport racks. The racks were fine, those things are strong, but it bent the top rail of the bed. I’d rather break a 2x4 rack than suffer body damage to the truck. So, whichever way you decide to rack, be aware of overhanging tree limbs!