I have 255/70/17 Wildpeaks AT3Ws on my stock canyon and have few complaints with them and no rubbing or fit issues. They've been great here in Utah winters with no problem getting through deepish snow (maybe 4-8" on top of blacktop, gravel roads) and have done great down in the desert as well as just being a good on road tire. So far I have about 34,000miles on the tires and they've got just a little over 5/32s tread depth on them left. If you don't drive mountain roads and canyons multiple times a week, I could see these tires lasting for awhile. I'll probably replace them in the spring if not sooner, around 40-45K if I had to guess total mileage and would buy them again.
However my friends have the new KO2 and only have good things to say about them so far on their Tacoma's.
really I don't think you can go wrong either way, just depends what tread pattern you like best.