They share no parts.
Its payload is double, its fuel economy is way better. It’s way, way tougher.
I’m an Aussie living in Canada, I’ve driven many models of both extensively, family have them all.
But yes, the Hilux is built to be a work truck, the Tacoma is built as a passenger vehicle that can do truck things.
I’ve driven through 70 countries on five continents, I’ve never seen a non-diesel Hilux.