The Toyota Tacoma V6 with tow package is listed at 6400 lbs towing capacity. So that restricts your trailer possibilities. The Lance 2155 mentioned above is 4800 +/- gross net weight (whatever that means!) so adding a thousand pounds or more is going to put you right at the max towing for that vehicle.
We have a Lance 1685 (LOVE!!!) with dry weight of 3800 lbs that we used to tow with a Toyota 4 Runner - similar situation to yours with slightly smaller tow vehicle & trailer. We towed safely for over 10,000 miles, but felt the trailer behind us every mile. We upgraded to a Tundra and never know the trailer is back there.
With the kids, you'll especially want to err on the side of safety. Be very careful with what trailer sales people say you can tow! They told us that we could safely tow 6000 lbs with our little 4 Runner when all the Toyota specs clearly said 5000.
