Had a 2009 Tacoma Crewcab towing a 4000#, 24' TT
Problem was the truck's 1050# payload. With all the junk we carry and 600# tongue weight, we were always 300-500# over weight.
The 5 spd tranny back then didn't have a tow/haul mode to lock out the converter. Not sure about newer Tacomas, but a modern 6 or 8-spd tranny with tow/haul would be a major improvement.
And it was noisy. The 4L V6 had to rev high to get the torque and hp needed. The mountains weren't that bad, but a day or two of prairie headwinds was exhausting. Newer trucks with V6s, including the Tacoma, are probably a lot quieter though because of more/improved sound-deadening insulation.