I tow my 1948
16' Boles Aero with a V6 Toyota pickup (pre-Tacoma). I had it weighed at 2500# and have a couple hundred pounds of gear + topper in the bed.
It gets the job done but is laborsome. The 3.4L V6 engines found in Tacomas are quite a bit stronger and if it's a late model 4.0L V6 I think you'd be fine.
The biggest issue is whether or not you'll be going up/down many hills. I'm in Colorado and hills can be pretty stressful. If you're on relatively flat ground it shouldn't be too much of an issue, but if you're going up and down hills I think you'd want something bigger.