There are quite a number of folks on the Jayco user forum that tow hybrids with Tacomas, which I believe are the same platform. They all seem pretty happy with their setups. But even a hybrid can be fairly heavy, mine is over 4500#. A few of the Tocoma owners are towing right up to thier limits. I've done that and while it works, far better to have some margin in your numbers.
That said it's all about weights, in particular available payload in the Tacoma and tongue weight limits. There are small travel lightweight trailers like
Rpods that even have slide outs. They are surprisingly nice, and roomy inside.
Since you don't know about the "other" weights, let me see if I can help.
Say your payload is 1400# (found on the sticker in the driver door piller). If your weight distribution hitch weighs 100#, and your trailer tongue weighs 700#. You have 600# of available payload left. Normally payload is calculated to include the driver, so add up the weight of everything in the truck, wife, kids, dog, bikes, etc. Say a family with 2 kids weighs 280#. Now you have 220# left. Add bikes, a grill, anything else you bring, you just ran it all out. Not good.