The casita 17' Liberty deluxe as shown in the picture (My very truck and trailer) scaled in at just under 4000 pounds and 400 pounds tongue weight. I tow with full water tanks, full propane, and the trailer was fully optioned at the time. Plus 600 pounds of bike and gear in the bed.
I don't begrudge anyone a heavy duty truck to tow with but you also can't expect a mid size truck to tow a load without compensating by downshifting on hills to keep the engine in its sweet spot. The taco will work to pull that trailer on serious hills but it will pull it and do it safely and reliably as long as the trailer is loaded properly and the hitch set up correctly. Yeah, the 3/4 ton trucks don't need that extra step with such a small trailer but also get much worse milage not towing, and aren't as capable offroad nor easy to park.