I have a 2007 Tacoma long wheel base 4dr 4X4 rated to tow 6,500 lbs. I tow a Rockwood Ultra Lite trailer model 2604 with a dry weight of 4,700 Lbs. My tow experience has been very good. Extremely stable no sway at all and sufficient power. I have towed coast to coast over the Sierra Nevada Mountains and the Rocky's. From the SF bay area I have towed this package all the way to Nova Scotia, and down the Appalachian Park Way. You will need a great brake controller, I use the Prodigy, and an anti-sway hitch, I use the equalizer (I have never had any sway what so ever even in high winds). The downside is on steep long climbs. I just crawl in behind the big rigs and ease up the grade. I crest steep climbs at 35-40 MPH. I rarely exceed 2,800 RPMs. On the flats I drive 55-60 MPH. If I keep the speed at 55 I get right at 13 MPG. Pushing the speed, hills or head winds cut fuel economy. MY Tacoma is stock, no engine or transmission issues at all. I tow in 4th gear not overdrive.
I am confident you will have a good tow experience.