Just to make it easy to rule out RV candidates.... Get your tow vehicles cargo capacity and determine what 70% of that is. Then look for trailers where the trailer gross vehicle weight (empty weight + trailer cargo capacity) * 0.15 is lower. If you meet or are very close, you can do a more in depth verification, but you are probably good to go.
FWIW, the Tacoma's are notorious for low RV capability. I tow a 7,000 lb Flagstaff Superlite with a Ford F-150 and am under all my weight limits.
Welcome to a very friendly forum!