The Tacoma and the Casita trailer are a good combination. You get good living space and plenty of room in the pickup for all the additional gear that one accumulates.
When it comes to Truck Camping, the truck is everything - it's the starting point for selecting a camper.
The slide in campers, plus fresh water and gear demand at least a 3/4 ton truck in most cases.
Truck camping in a Tacoma class pickup can be done. The obstacle comes when one wants to upgrade or add additional toys or gear.
You might want to do a LOT of reading to see if you should upgrade to a heavier truck to accommodate your longer term goals.