Ive got an '07 prerunner, access cab, 5spd and get from 24-29, usually around 25 with mixed driving. I drive mostly rural backroads with a little city driving and highway driving mixed in. I generally never go about 75 though, and most of my driving is cruising 55 with no stop lights.
I have the 4X4 reg cab 5sp, with a 3" lift and 305/70/16s. I get a consistent 20-21 MPG. My driving is 50/50 city/highway but I'm reluctant to call it highway driving because of the traffic and stop lights around here..
When it was stock I got 23 MPG.