I think the Surf is an SUV with a 2.7L Petrol engine I-4 (4cyl).
The Hilux is a 5 seater 3.0L Diesel engine (4cyl)
Logically, the Hilux will produce a lot more (30%+) more torque and about 30% less hp. Diesel engines generally produce a lot more torque, though less hp at the same time. I dont know much about fuel efficiency, but I think it will be pretty much the same except Diesel is CHEAPER than Petrol so you'll save a lot on that