That's how I got started working on my truck - I bought a p.o.s. 89 Dodge Raider five years ago and realized that it wasn't worth paying someone else to work on it. It's a steep learning curve, though, and not for everyone. The trick is knowing what is worth doing yourself, and what's easier to just pay someone else to do. I don't know anyone that does their own windshield replacements, for example.
A little knowledge helps when you take your vehicle to a shop, too. Eventually you start to learn what is worth doing and what to skip.
P.S. I believe that the 6-cylinder 3.4L Tacoma engine is a non-interference engine, which means that if the timing belt breaks the engine isn't trashed. Of course, all sorts of other little parts in the area of the timing belt will get beat up, but it's not the end of the world. VERY IMPORTANT to know if your engine is an interference design or not!
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