Don't have a Tacoma, but I remember reading they installed rear springs that are too weak for the rated weight capacity of the truck. Even people towing 17' Casitas needed the rear spring work done.
I would suggest you talk with your Toyota dealer, as I think since it's a recall, they should do it for you even if the truck is out of warranty. If they won't do it under the recall, work at spring shops is actually quite affordable.
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