i have a 96 taco with a 2.7 and it does the same thing. The circut opening relay causes this. It controls power to your fuel pump and when it gets to hot it can stick and send no power to your fuel pump, toyota mounted the relay on a heater duct just to the left of your steering column under the dash. In the winter my truck never does this but in the summer it wont fire after driving it quite frequently. The only reason i havent replaced the relay is because it was $90 at my local dealer.
