Hi Cyndilee, welcome to our little group of Aframers.
DH and I do not use an anti-sway device with our Aframe, but then, we tow with a full size van...so that probably doesn't help you much.
Maybe try it without for a couple of local trips. If you see the need, can't you add it later?
Something else to consider is a weight distributing hitch. With your Tacoma's longer wheel base, on of those may not be necessary either.
Sorry to be of so little help.
Hopefully someone with a similar set up or experience will chime in.