Here's my opinion on mid-size trucks:
Haven't driven the Ranger or Colorado enough to form an opinion.
Tacoma: If you're on the taller side, definitely test drive first. I hate the cabin area, my head was almost touching the headliner when I got the seats in a comfortable position. I hate driving this truck - bad sightlines, jerky engine/trans.
Frontier: The engine is kind of a pig, but I don't hate the transmission as much as most people. Turning radius kind of blows. Decent overall.
Ridgeline: My favorite in the segment that I've driven. Ride is a lot smoother and not as truck-like on account of the unibody. Infotainment system blows, driver assist features want to kill you - either turn off the lane keep assist or buy one without.
Gladiator: If buying new, this is one of the few vehicles that you can actually get a deal on. The first year or so, these were super hot, but demand has fallen off a cliff. Only worthwhile if you like the Jeep plusses (like being able to take off the doors or having a soft-top) and are willing to put up with the minuses (noise, ride, etc).
I personally really want a hybrid Maverick which is probably smaller than you're looking for. However, I'm going to wait until they've finally worked out all their bugs and have no interest in paying a premium over sticker, so, I'll probably waiting at least a few more years.