I have a 97 3.4 taco and I am bored with the auto and want a 5-speed can i switch them out? at what cost?

The short answer-- No. The output shaft on your motor is different that the one for the 5-speed. Otherwise you could do it. Short of major engine work or a total motor/trans/t-case swap you are stuck. But it is a Toyota so there are plenty of other things to do to keep from "getting bored."