As is always the case, the first question that a user has to ask himself is, what do the factory numbers ( GVWR, GAWR, etc. ) mean to that person ? If you see them as limits that should not be exceeded, then this truck will not work in the real world for a near 6K pound trailer. He will be over one or more limit.
On the other hand, if you are a user that considers those stated numbers as a "suggestion" that you get to ignore if you so choose, then any number of vehicles can be made to work.
And I am talking about real numbers....we get those by pulling the tow vehicle and the trailer onto a certified scale.
I pull a 4000 pound funfinder behind a Frontier, which is nearly a sister truck to a Tacoma. As loaded to pull out of the driveway, I am at 95% of the GVWR. I am well under the other limits, but as we can see, nearly maxed out on one rating.
We each have to decide how we look at these things.