Looking for reassurance

I have a much older mid-size SUV V6 as a tow vehicle (Pathfinder), towing a heavier hybrid than yours... Based on your numbers, it's doable. It will not be ideal, and you'll notice the trailer is back there, but it's not gonna kill you.... It'll be adequate at best, but you'll get to your destination if you take it easy. Your biggest concern would be payload. Assuming your Tacoma has a hitch rating of 650lbs, you're looking at a real-world tongue weight of perhaps 550lbs or so. That's before loading things up in the front of the trailer or the bed of your Tacoma. I'd say pack light, go with empty water tanks, use a good, properly adjusted WDH with anti-sway and you should be ok. Avoid filling up the Tacoma bed with a truckload of stuff.