The Industrial Revolution 4.0 (IR 4.0) has drastically impacted how the world operates. The Internet of Things (IoT), encompassed significantly by the Wireless Sensor Networks (WSNs), is an important subsection component of the IR 4.0. WSNs are a good demonstration of an ambient intelligence vision, in which the environment becomes intelligent and aware of its surroundings. WSN has unique features which create its own distinct network attributes and is deployed widely for critical real-time applications that require stringent prerequisites when dealing with faults to ensure the avoidance and tolerance management of catastrophic outcomes. Thus, the respective underlying Fault Tolerance (FT) structure is a critical requirement that needs to be considered when designing any algorithm in WSNs. Moreover, with the exponential evolution of IoT systems, substantial enhancements of current FT mechanisms will ensure that the system constantly provides high network reliability and integrity. Fault tolerance structures contain three fundamental stages: error detection, error diagnosis, and error recovery. The emergence of analytics and the depth of harnessing it has led to the development of new fault-tolerant structures and strategies based on artificial intelligence and cloud-based. This survey provides an elaborate classification and analysis of fault tolerance structures and their essential components and categorizes errors from several perspectives. Subsequently, an extensive analysis of existing fault tolerance techniques based on eight constraints is presented. Many prior studies have provided classifications for fault tolerance systems. However, this research has enhanced these reviews by proposing an extensively enhanced categorization that depends on the new and additional metrics which include the number of sensor nodes engaged, the overall fault-tolerant approach performance, and the placement of the principal algorithm responsible for eliminating network errors. A new taxonomy of comparison that also extensively reviews previous surveys and state-of-the-art scientific articles based on different factors is discussed and provides the basis for the proposed open issues.