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The 3.73 will offer better fuel economy, the 4.10 will offer better torque at the wheels (and therefore towing capacity). The 4.10 also offers better acceleration but lower top end, but I doubt that matters to you.
Go with the 3.73, I'd say.The 4.10 isn't going to give you anything you'll need out of a Colorado; if you wanted towing capacity you'd probably rather get a Silverado or Ram anyway.
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