The girl I'm dating drives a '00 Taco ext cab... I think your dogs would be a little bit cramped... If it were only a one or two hour drive, I'd say go for it... but any longer than that and I think everyone in the truck would be miserable.... They wouldn't have the room to both lay down at the same time, which I'm sure you'd want them to do to avoid a dog licking your ear every couple miles...
---Ron