I tow my 1961
22' Safari with my 1996 Toyota T100, extra cab, V6 3.4 . I always get to where I am going, the combination feels rock solid, but the Toyota V6 is not known for its power and I do not generally travel over 55 mph. I have to drop a gear or two climbing grades. I do believe the newer Tacomas are bigger and have more power with the V6. Is yours the extra cab? The longer wheelbase is very important for smooth handling.
I think you will be fine as long as you don't mind not being the fastest rig on the road.