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I am looking to buy either a Toyota Tacoma or a 4runner from the '96-'00 range and some of the ones that i have taken on a test drive feel like there is very little clutch left. It dosent engage until the pedal is mostly about 80% out. Is this normal for these vehicles? What is a good way to diagnose if a clutch is good or not?

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well every clutch on EVERY car (not just different cars but every single civin/lancer etc. etc.) is different you could have a very deep clutch…but if its going bad youll have trouble getting it into gear and a strange smell will be coming into ur car..best way is to get it serviced and ask them to check it
I would not focus on the clutch, but do focus on the engine condition and general vehicle wear and tear. A clutch is not an expensive item to fix, but major drive-train components are.
Telling if a clutch is going out can be difficult some times. A smell is a good sign. How far out the pedal comes is not a good way to tell. Most often if it’s hydraulic it’s a bleed out issue or a weak slave cylinder. It could also be that the clutch was never adjusted correctly to start with. Take it out on the high way and see how it responds to different throttle settings. Run it up to 65 miles per hour and take your foot off the gas see how it feels under break HP. then put your foot in to it and see if you hear a big RPM change slow acceleration. Down shift a few times and see how she responds. Every car acts differently with the clutch so you just need to play around with it and see how it feels. You can also just ask when the last time the clutch was changed. If it’s a personal seller I would hope they would have repair receipts. If it’s a dealership they may not have that information. A lot of the newer cars are coming with inspection holes for the clutch so you can check to see how much clutch is left. You may want to see if that’s the case on this. Hope this helps and sorry if I rambled on.
This is the way Click and Clack described how to check if the clutch is OK.
Put the bumper against an immoveable object, like a tree. Put the truck in 3rd gear and let out the clutch. If it stalls right away, the clutch is still OK.
With hydraulic clutches, you won’t get the same feel that you do with a cable. My BMW 520 has pedal feel like you describe, and has for 6 years now.