I have a 2005 F150 Supercrew 5.4L V8 and a 2012 Jayco Jayflight Model 19RD which weighs a little over 3700 lbs dry with a 6000 lb GVW. I have towed it to Montana and back 3 times, lots of in state over the pass trips. I go slow and don't push the truck but I honestly feel a burning desire for a better tow vehicle every time. And no, it's not because it's a ford, it's because pulling that much on longer trips over mountain passes is really far from ideal. I'm sorry but I would not consider using your Tacoma to pull that trailer....EVER.