Tacoma weighs in at 4220 curb weight. Average weight for a steel wood floor car hauler comes in at 2000 pounds. ten percent for tongue weight means you added 620 pounds to your long butt motorhome. A 5000 pound hitch won't do it. having all that space in the bed of the truck is tempting. You will feel that weight all the time.
I tow my Wrangler 4 down and forget it's there plus no trailer to deal with at sites. I add items to the inside and still under 5K. Once at camp it's 10 minutes and we are unhitched. You: drive your tacoma off trailer,, drop trailer,pull MH into camp site, use tacoma to move trailer to camp site designated area, drop trailer, drive tacoma back to camp site, repeat in a few days.