I agree with Martingale. We had a 2007 Tacoma pulling our 5200# (loaded) Roo 23SS with a 600# tongue weight. It worked just OK. Hills were a problem and we were at max. payload with just me and 1 DS in it when we took it to the CAT scales.
Give it a try but I suspect you'll need to upgrade to a 1/2 ton like I did.
2011 Rockwood Signature Ultra Lite 8293SS, 12K Equal-i-zer
2016 Ford F-250 XLT SuperCrew, 6.2L, 4x4, 6'9" bed, 3.73
2010 Rockwood Roo 23SS (2012 - 2014)
2009 Ford F-150 XLT SuperCrew, 5.4L, 4x4, 5'6" bed (2012 - 2016)