If the vehicle will not crank over, the most common problem is the starter, which tend to fail at about 100,00-125,000 miles. Sometimes it is only the starter solenoid contacts, but often the complete starter (including solenoid) needs to be replaced.
Car Problem Reports
Toyota Tacoma Vehicle Won't Crank Due To Starter
Toyota Tacoma Problem
Visitor, 1996 Toyota Tacoma, 141,000 mi
Starter won't work. Battery good and tried jumping but same effect. We can catch it off and it runs fine. Either starter or electrical between battery and starter.