I do not know about the Tacomoa but foro four days I was the proud owner of a vintage JEEP 4x4 (long story) and it specifically said NOT TO DOLLY TOW. it could be towed 4 down or 4 up but not on a dolly.
I have read the manual for a RWD Tacoma, it said not to tow without modification (Dropping drive shaft, Lube pump or drive shaft disconnect)
I would read your owner's mnanual very carefully.
Oh.. Last weekend (Also for 4 days) I was the proud driver of a brand new JEEP PATRIOT 4x4 (All Wheel Drive) This one can not be towed either. Unless you put it on a trailer.
That said, MOST DP's can tow up to 10,000 pounds.. To be sure you need to do some math. And visit a scale (I recommend a 4-corner scale more on that in a second)
Find the ratings sticker it will give a mazimum COMBINED Gross vehicle weight (CGVW) rating
Now weigh the rig.. www.rvsafety.com has a link on it's web page for that, they come to you (After a short interview, be prepared with tire size, make and such when they call) and weigh your rig all 4 corners.. They tell you how much air to put in the tires based on the weight, they check your tire gauge and a few other things.. Very good service, not too expensive but there are cheaper ways to do it if you can find a FLAT scale and do not mind doing your own research)
Now subtract the actual RV's weight from the Max CGVW. if you are left with say 8,000 pounds.. You can likely trailer that Tacoma (all 4 wheels up) if you have the full 10,000 the hitch is rated at (NOTE: ONLY if you do not use a drop hitch adapter or extension) you may be able to go with a enclosed trailer/garage for the Tacoma. now that's... Towing in style.