I have known a few people that have done this with Sammies and they have used the "Yota axles as well! I am not aware of any kits or adapters for this swap so you may just have to fabricate your own parts. Motor mounts, transmision mounts, Clutch and throttle cable adapters, radiator ans rad support, shifter locations, and driveshaft adapters are some of the obstacles you'll face. Also the electrical if your going from FI Suzuki to carb Toyota.
It comes down to how much you want to have the TOY running gear and your ability in fabrication. I would either look for Toyota axles and complete wiring harness to go with your running gear just leaving you with fabricating mounts, suspension, adapters and clearing the Tranny tunnel, or try to sell your "Yota running gear and getting a Suzuki running gear that will just bolt in! The later would definately be the easiest way to go but wont be as unique!
Either way will make for a tough reliable rig it comes down to how much work and money you want to dump into your truck!
Good Luck!