Not sure on the 1981 Pickup, but if you don't have an Xtra cab it might be longer.
The following are the bed lengths for the 2002 Tundra:
Reg. Cab = 98.2"
Access Cab = 76.6"
The YZ 250 length is 85.9", so with the regular cab (and thus the longbed) I would be fine.
I have kids, so I opted for the Access Cab in lieu of the longer bed. However, if an Access Cab/Longbed version were available, I would have been all over it.
(I think the 2004 Double Cab Tundra is going to be coming with a longbed)
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