Congrats on the new Freedom Express!!
I used to tow a 4600# unloaded (5200# loaded) Roo 23SS with a 4.0L Tacoma TRD Double Cab. It was adequate but the biggest problem was that I was right at the GVWR with only 2 out of the 5 of us in the truck. We had to take a 2nd vehicle until I upgraded to my F-150.
With an Equalizer 4 point WDH I was never uncomfortable towing, just under powered for hills.
I recommend that you redo the dealer's setup on the WDH once you get it home, then take it to the nearest CAT scale to see how you're doing on your gross weight on the Tacoma.
Don't sweat it too much. Just keep the tire pressures at max and you'll be OK. Get out and enjoy it.
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)