24F in almost everything. The safest way to know is LOOK AT THE BATTERY TRAY. If you have a 35 in there and there is extra space on the left and right side of the battery, then you should have a 24F in there.
Those measurments are not 100% exact... at my work our 35 is actually a tiny bit taller than our 24F.
As for 27F... pretty much all the 2nd gen V6 Tacomas, 4th/5th gen V6/V8 4Runners are coming with 27F, especially with the tow packages. The cranking amp difference between the 24F and 27F generally isn't big (700-24F, 710-27F), the biggest difference has to do with the reserve capacity for electronic brakes (for towed vehicles).
When in doubt, size up the battery tray.
Source: been doing it professionally for 11+ years