I had a 2009 Tacoma with the V6, pulling my 19.5 and it was good, with no issue. Lots of power. Loved that truck and it pulled the 19.5 really well.
Like a big dummy I sold that Tacoma and bought a new 2018. They regeared the tranny or rear-end (or both) and it was awful pulling that trailer. It could handle the weight no problem but the wind resistance meant that I was at 3,500 rpm going down the freeway and I could barely have a conversation with my passenger as it was so loud. I did not pass too many gas stations, either.
So I sold the 2018 and bought an F-150, mostly because my wife is a saint and was tired of me complaining.
But long story short, you will be 'fine' in the 2010, and it pulled the trailer really 'good'.