OP you should check out the TFL video where they hook a big boxy stock trailer to a new Taco and run it up the Ike.
https://www.youtube.com/watch?v=DCkBmiZV09wIn other words, your boat would be easy work for the Tacoma.
I can tell you this, I have a '06 Frontier, V6, six speed manual with 150K miles on it. Approx 50K miles have been towing this 4100 pound Funfinder or my two horse Titan trailer with the quarter horse in it. It will maintain 60 mph up a 6% grade, on cruise control, in 4th gear.
3000 rpm. Easy. I've towed this travel trailer from sea level to the highest passes of Colorado multiple times.