I do plenty city driving and I would love an auto box in mine, but I've gotten used to the regular shifting. I mainly drive around no higher than 4th in town and only find the higher gear on the freeways. Ja it does not have a 6 speed box but I've never felt I missed a gear. I have plenty torque all across the gear ranges and at varying speeds. You will surely not go wrong with either. If you do end up going Dmax is it the current iteration, or are you going to wait for the '22 model, which may be delayed thanks to Covid and lockdown? You may even end up getting a deal on the existing range. I have a 2017 Dteq 250 and its solid.
I even had to tow a bloke out of a ditch last week at Hoogekraal after driving his Fortuner into it. He dropped the front wheels into mud and just sank onto the hubs. I gave him a solid yank and he was loose. All the toyota and ford manne just stood watching. Like I said, beast mode.