Since your keen to get your hands dirty, it sounds like the MegaSquirt is a good option for you

I'm not too clued up on the 3S and SW20 setups, however I'm pretty sure they used the Toyota VAST system, which a 4-1 (or 24-1) trigger in the dizzy is filtered by the igniter and a simple IGt signal is sent back to the ECU. You use this signal for tach input on the MS, then you can either drive the igniter for spark (Can't run spark cut limiter), or run a wire to the coil directly and power it off the megasquirt. I run the VAST setup on my 4A with good results. You can use the VR sensor pickup in the dizzy itself, but I have no experience with this, I took the lazy, easiest way of getting it running, 1 wire, no hassles

Sensors you just use the factory items (TPS, Temps, Oil), you will need an IAT though, any generic GM unit from superthief will work with the megasquirt though. However, I'd advise to ditch the standard O2 and buy an LC-1 Wideband for $255. Good for tuning and better for keeping an eye on the motor.
I've only road tuned my megasquirt, but it was certainly good enough for daily duties and thrashing as well. If your chasing power and performance, you really do need to get it onto a dyno though. However, I was happy with my DIY tune for 7000+km

Few threads from MSExtra forums to help you out:
For 3S temp sensor calibration information, check this thread:
http://www.msextra.com/forums/viewtopic.php?p=143822#p143822Someone doing a 3SGTE Caldina MS2 build:
http://www.msextra.com/forums/viewtopic.php?f=94&t=35601&hilit=3sThread issues about CAS sync problems:
http://www.msextra.com/forums/viewtopic.php?f=101&t=35938&hilit=3s (might help you if you run into problems)
General nippondenso (Toyota) CAS information/setup:
http://www.msextra.com/doc/ms2extra/MS2-Extra_Nippon.htm