I am in the middle of my first winter with the Tacoma, and I am actually impressed with it.
As far as braking, the ABS is no more sensitive than other vehicles I have owned. I got rid of the OEM tires before winter and got the Michelin LTX M/S2 tires. When it is really slick, I drive slower. The slicker it gets, the slower I drive. The ABS only kicks in at really slick intersections, but I normally slow down ahead of time, to prevent it from kicking in at all.
OP, are you sure that you were only going 15 MPH?
As others have stated, the Rugged Trails are rated pretty poor for snow and ice.
I have not put weight in the back yet, so in 2WD, I still spin a little taking off, but no issues in 4WD.