My 08 Tundra with 35" Toyo's, 3/1 + 3" body fits by about 1/4". Literally 1/4",,, I had to trim the door seal to clear at all. It's close enough that I fit in the single bay door,,, but not the double bay door!
My lady's 08 Taco with a 2.5" lift and 31's fits by a ton,,, so I have no doubt that a Taco with 6"s and 35's would walk right in.
My '94 with 6" lift and 35" mudders fit in my standard 7' door,,, and remember the 94 had that god-awful third tail light stuck on top of the roof like an afterthought. Not sure if the '94 vs. the Taco works,,, but it's gotta be a better apples to apples than Tundra to Taco I would think?