Ms Jimmie, we've towed our 02 Scamp fiver for three years now. First with an 05 and now a 12 Tacoma. 4WD double cabs, automatic, TRD Offroad package with the factory hitch option for both. This combo comes only with the short (60") bed but the ideal mounting location for the hitch is directly above the rear axle and that's exactly where mine is. Clearance is such that I can back under the hitch with the lowered tailgate still an inch or so from the propane tank cover. Secure the hitch, set the safety chains, close the tailgate, plug in the lights/brakes, raise the landing gear and you're good to go in less than five minutes.
The TRD package or 4WD aren't needed but they sure give you more options when you get where you're going. AT = automatic transmission.
The Scamp will weigh a bit more than the factory tells you. Plan on 3300-3500 lbs in camping trim but that's not a problem for the Tacoma. You can also easily make your own hitch but I've heard the new setup from Scamp works with the composite bed. Some pictures of my Scamp and the 05 http://www.tacomaworld.com/forum/tow...-19-scamp.html