Unless you need the space or the towing capacity, I would opt for the Toyota. For any towing over say 2000 lbs, you cannot beat the diesel engine and all the mass (no tail wagging the doggy).
At 70k, the 2001 Dodge is sitting good. No breakdowns or repairs needed, yet. The front rotors have some buildup and will need to be replaced, and the torque converter is showing signs of giving up. I do believe this truck will last 200k miles. The chassis will be smoke long before the engine, though.
If I could get away with it, I would get a Tacoma or Tundra, but there are times when even an 8' bed is not enough space and I would not feel comfortable towing any real cargo with a Toyota. For me, it's Dodge or Ford (Cummins engine tilts favor to Dodge).
http://www.dieselram.com
http://www.tdr1.com