I would think that anything 2000ish onwards would be pretty good. I have an 05 SR5 3.0TD Auto, and my mate has a 2000 SR5 3.0TD Manual. Noticeable difference in driving position, rear leg room, power, etc. You just got to test drive all you see, until you find the right one for you.
I prefer carpet too, as when it gets wet it dries through, the "lino" floor in the SR does not, and can smell, I have heard.
Still it is all up to you, and all can easily be upgraded. Have not driven latest model.
Let us know how you go.