Never a good idea to be so close to the maximum that the drive train is rated to pull. Expect to be up at 3500 rpm a lot especially going up hills. The rig will be fine in town or on slow roads but high speed on the highway the way say a 5.7 ltr or even the newer high torque 6 cylinder rigs run down the road with trailers is not going to be an option. 265 foot pounds of torque is adequate but just for your needs. With the six speed transmission in a tow haul setup mode expect it to be in the lower gears much more than trucks with closer to 300 ft lbs of torque. Horse power means less than torque especially when it comes to towing. All though the ridiculous torque rating of the Ford ecoboost is 500 ft lbs I am a little skeptical because when I have driven them the power band is not the same and they do seem a little wimpy at low RPM where the Tacoma 3.5 seems to shine.
The Tacoma will indeed pull it well even without a WD hitch but a WD hitch is a very good idea especially in the rain where swails in the road will inevitably take too much weight off the steering axle. So I would not run it without a WD unless you are just moving it around short distances. WD hitches do make a difference in turning radius and to park it in some places one needs to take off the bars to be able to jack knife the trailer to spot it, especially in spots where it is absolutely necessary to jack knife the rig to spot it while going over uneven ground.
The other consideration is if the Toyota has a long maintenance cycle then increase the frequency of service if you put the drive train under strain that is close to the limit of the rig and you pull the trailer frequently.
Our tow vehicles have the transmissions serviced ahead of the recommended service interval and our SUV have had a second coolant flush including antifreeze changes as well as transmission fluid and filter done when we bought it used well ahead of the recommended service interval for the transmission and cooling system. Next year out 4.8 ltr GMC Sierra will have a water pump changed regardless of how the engine is behaving. I already had the 4l60e transmission rebuilt before it really needed it because the truck has 130,000 miles on it and the transmission was shifting a little high between 2 and 3. Mind you the previous owner had towed a heavy 4000 lb boat with the pickup for a lot of years so the truck needed work so we got it cheap.
Cooling is even more crucial when hauling heavy loads up near the maximum capacity of the tow vehicle. If there are signs of strain on the drive train then pay close attention to any changes in cooling behavior and especially shift patterns if the Toyota is an automatic.
Tacoma's are great little trucks and the engines are known for great reliability but they can easily be over loaded and prematurely wear the transmission and running gear just like any other small pickup when towing heavy loads.
I certainly would not exceed 60 mph with the rig because the braking capacity of the truck is no where near as great as a full half ton with more drive train and engine braking capacity. If the trailer brakes wear prematurely because of the lower engine braking profile of the rig it simply means that the tow vehicle is not the best choice. If you find that you need to ride the brakes too much on long down hills and that shifting down does not slow the rig enough then be prepared for extra maintenance on the trucks brakes and the trailers brakes. The ability to use the engine and transmission for braking purposes is crucial to extending the life of the trailer and tow vehicle brakes. But the price is some extra heat on the transmission that must be cooled very efficiently. The engine will cool going down hill even under a braking load because it will be pulling in more air at higher and not burning gas, but this also means the gears and fluid coupling on the transmission will be heating more. If the transmission does not cool down while engine braking then the transmission cooler system needs to be checked. There was a very common problem with some Nissan 4 ltr v6s and overheating of the transmission cooling line leading to radiator failures. A factory defect that caused many issues for the unsuspecting owners, especially the ones that pulled trailers.
It is always a good idea to test out a rig with a heat gun to see if there are problems at all when towing especially with transmissions overheating.
I have not heard of Tacomas with the same issue but I have heard of the diesel equivalent from Japan to Tacomas having transmission and engine cooling issues.
What I see most often with small pickups pulling close to the maximum load is the brake lights going on far too much going down mountain slopes or worse in traffic not anticipating light changes and not using the engine to slow the rig enough of the time.
Best to make certain that the Tacoma is in top shape and has no drive train issues and the brakes especially are in top condition and you should be fine with the rig. Just expect to be passed on the highway by all the 5.7 dodge hemis and 6 ltr GMs.
But not to worry you will catch them up because you can bet they will be stopping for gas much more frequently than your rig if you drive at no more than 60 mph.
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