My Enclave has about the same wheelbase as your Tacoma (maybe a little wider) and I have had no major issues with sway. I do use a WDH and sway bars. My Buick also has a 4500lb tow limit, and it pulls the Elkmont fine as long as I follow some self imposed rules, which I have posted previously on this forum. You will know you're towing the Elkmont, but I never feel out of control.
One comment I will make is that speed is important. The faster you go, the more load you put on your engine, tranny, and brakes. I religiously keep my highway speeds to 60 or less and let the rest of the world pass me by!
Your Tacoma should be fine.
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