We have that floorplan, but it is a Baja model. We towed it with a 04' F150 and our "dry weight was 5320 lbs. I don't think you'll be happy with this combo our 5.4L v8 did fine, but slowed considerably in the hills.
My biggest concern for you is that your truck will be overloaded. Check your manual for the GVWR on the truck and if possible weigh your actual truck. The difference will be the Cargo Carrying Capacity. The CCC must include the weight of the hitch, tongue weight of trailer, people in the truck, gas and supplies you'll have in the truck. The curb weight and the CCC should not exceed the GVWR of the truck.
That trailer at 29.1' it is awfully long for a Tacoma. My boss has one and I can't see pulling my trailer with that thing.