Both my Mazda's used to drag a 16' Scamp around. The first one was a 2wd 2.2 liter Perkins diesel with 5-speed and the second was a 4wd 2.6 liter G6 gasoline with 5-speed. Mountain passes were in third or fourth gear 40-45 mph, but they could keep with traffic on most highways. The 4wd had twice the horsepower of the diesel which helped, but the fact I could use 4wd-low for tight maneuvering was the best part of this setup. This same 4wd used to tow and launch 20' SeaDoo open bow.
Your Toyota may get pushed around a little in the wind with that trailer (try setting up a friction sway bar and keep a load in your bed) compared to my egg-shaped Scamp, but it should do fine as long as you are not in a rush.