What is your trailers gvwr? That's the number I'd like to know
Edit...sorry i just saw it's 6k. Your trailer weighs the same as mine. In my experience, for a ccomfortable tow you want to be 80% or less of your tow rating with trailer gvwr. Your at 92% not withstanding the tongue weight or overall light weight of your tacoma, smaller wheel base, etc.
My 2000 expedition had a 6900lb tow rating and it pulled my Layton ok but not the best. It's wheelbase is about what your tacomas is and i noticed that on the highway. The expeditions weight helped to control the trailer, a benefit you don't have.
Before i bought my silverado i test drove a 15 tacoma crew cab with towing package. It was s nice truck for what it was but nowhere near what my silverado is. Plus the silverado gets better fuel economy and wasn't that much more money to buy.
I realize that's not the point here. Can you go down the road with your trailer? Yes but you are very close to your limits and i don't know what will happen in an emergency situation.
I once towed a 21 foot, single axle 1977 go tag with a 1987 4x4 5 speed, 2.8 v6 ford ranger. It pulled the go tag but was clearly way over weight. Soon after that i sold the ranger and bought a 1989 Chevrolet Silverado k1500 with the 350 and never looked back.
Yes your tacoma is much more rhobust than the ranger was but the point i think most here are trying to make is towing at or over limits is not enjoyable and possibly unsafe for you and others you share the road with.
Just my .02. If it pulls the trailer ok and your happy with the combo that's all that matters