I used to haul a Coachman 249 FQB, (I recall dry wt around 4,500 lbs) with a 2006 Tacoma DC. It had the 6 sp standard. I was within all specs of truck. Power was fine, braking was fine and with WDH it rode level. The killer was sway induced by passing buses and transports.
I used the Taco for one season and moved on to Tundra.
The Taco willl do the job, bit in some traffic and wind conditions, it will not be a pleasant experience. It can be done safely by slowing down and avoiding heavy traffic.