If a 4X4 Tacoma can be dolly towed, it is one of the VERY few that I have ever seen that can! (Actually, I have NEVER seen a 4X4 of any kind that can be towed on a dolly without removing/disconnecting the driveshaft!) But then, I have never owned a Toyota truck.
I have, however, owned Datsun/Nissan (4X4 and 4X2); Chevrolet (4X4 and 4X2); Assorted Jeeps; Dodges (4X4 and 4X2); a few old 4X2 Fords; and even a Land Rover.
NONE were approved by the manufacturer for dolly towing!
I strongly recommend that you read the Owners Manual and follow the instructions.
Good luck.