to the forum!
We would need more information about your Tundra to give an assessment, such as 4X2 or 4X4, reg cab or ext cab, etc?
Most sources list the MAXIMUM towing capacity for a 2006 4.7 Tundra as 6800 lbs, although Trailer Life lists the max at 7100. I don't know if your Tundra has the maximum capacity or not, but even at maximum capacity, either of those trailers will have you at or over your tow rating. The Palomino has a dry weight of 5252 and the Rockwood is 5053. Those weights are without optional equipment, propane or batteries. Realistically you are looking at 5400 to 5600 lbs before you even start loading your equipment and supplies. Then add the weight of a good weight distributing/sway control hitch, passengers in the vehicle and you most assuredly will be at or over the capacity of a Tundra with the maximum capacity tow package, your capacity may be less.
I personally don't believe you will be happy. I think you need to consider lighter trailers or upgrade your tow vehicle.
Please don't be discouraged. Camping is a wonderful experience and it is good to ask questions before you buy. So many do it the other way and end up with too much trailer and regret it. I commend you for asking first, but I honestly think either of those trailers will be too much.
Glenn & Beth (Dad & Mom)
David & Audra (12 year old twins)
2006 Dodge Power Wagon (Adventure & Tow Vehicle)
2006 Rockwood 8281SS (Home away from Home)