I don't think the Ford interior looks cheap, even in the XLT cloth seat version. It looks better in gray than in black or tan. (I wouldn't have a vehicle with a black interior.)
I assume you are looking for a crewcab. DO NOT get the "supercab" for family use--having to open and close the doors in sequence is PITA.
One thing you do need to pay attention to is the cargo capacity. There are different versions out there, but they are all less with the Supercrew cab than with the regular cabs.
So far as towing, the 3.5L Ecoboost is a beast.
A friend of mine used to have the Silverado LTZ 4WD, and I will say that it had a much nicer ride than any of the Ford 4WD versions. The LTZ is a "luxury" version rather than off-road. It tows fine with the right weight distributing system. If it's mainly for a daily driver, that is a big factor.
Highway mileage from the Ecoboost (not towing) will be around 20 mpg. City runs about 17-18.
There are a lot of nice 2-3 yr old used trucks out there, and one of them would be my choice over a new version.
Like you, I am a big Toyota fan, and have looked hard at Sequoias for my next vehicle. But the 14-16 mpg gives me pause. The interiors also are starting to look dated and the ergonomics are not the best. Those factors have moved the Expedition with the 3.5L Ecoboost up higher on my list.