I have an Aliner that I have had beefed up for actual off-road use. It has a GVW and tongue weight that exceeds what you have specified for your own Aliner.
My primary tow vehicle has been a 2007 Jeep Wrangler that has a 3,500 pound towing capacity (2,900 pounds less than your Taco) and a 250 pound tongue weight limit (400 pounds less than your Taco). The Jeep tows my Aliner effortlessly- and has no doubt towed our Aliner for more than 20,000 miles.
I also had a 2012 Trail Edition 4Runner that I just sold that had a 5,000 pound towing limit. On the few occasions that I did use my 4R to tow the Aliner, I actually had to keep reminding myself that I was in fact towing a camper. With the 4Runner, I could hardly sense that I was towing something.
I also have (had) the Prodigy P2 electric brakes installed on both the Jeep and the 4Runner. Braking was never a concern even in hills and small mountains.
BTW, I am new to this forum. Just bought a 2014 Tacoma 4DSB Limited and I am really looking forward to using it to tow my Aliner.