2022 Tacoma sold in Mexico

There are 2 issues- one is US DOT/EPA compliance and another is the State emissions compliance. It is most likely that the truck would need to be "federalized" to meet DOT/EPA requirements and then get emission compliance which may be a State certification. I have no first hand experience with this but have heard that it can be costly and time consuming.
I would contact authorities at the border (U.S. side) and see what the requirements for an import are. And then I would check with the state to see what they requirements are.

 

Most of the Front Range area of Colorado requires emission testing for vehicles over (I think, but not sure of the current number) 7 years old. There may be an exemption for "Classic" cars over 40-50ish years old IIRC.

 

There are federal exemptions I believe, but it is 25 years old. Many state emission testing have the same age (25) emission exemption.
Would not help with 2022 truck...

 

It is doable - but it will take some hassle, time, and $$$

Look underneath and confirm you have cats installed, carbon canister, etc.. (Emissions system). This is a part that can be easily omitted at the factory for a significant reduction in (manufacturing) cost.
You could also have it smogged in CA on one of your trips and confirm that it will meet the required emissions. The letter from Toyota will be required. I got a letter for a BMW once - and I believe I was lucky to get it. Manufacturers resist this. It was not easy and it took a while.

- Any conversion will require you to spend money. I cannot tell how much would be needed for a MX Taco. California does not make it easy... (I've imported vehicles from abroad. It is a bit of a struggle, and every step costs money. These hassles 'may' be worth it on rare or collectible cars. On a (dare I say): 'common mass market vehicle'; - perhaps not so much worth the hassle.

- Also note that you may likely take a hit on resale - only due to the additional complexity in the vehicle's history - I believe that this history issue would be significant so that you'd have to disclose to a buyer upon sale. You do not want this coming back to you maybe at a later date - maybe only because something has gone wrong with the vehicle 5 years later and now you have to buy it back... refund the purchase price when the truck will be older, higher mileage, and maybe broken. (Essentially renting your truck for years and free of cost to the user.)
We'd all like to keep our Tacos forever - but you never know... You do not want a sale to be held back when / if the time or need comes.

The VIN will let any dealer know that this taco is not domestic market. As has been mentioned, the factory warranty (which you paid for in buying the truck) will be void and dealers may not want to service. They will certainly not do warranty work on it since they will not be reimbursed.

The above financial and logistical implications may favor selling your truck in MX and simply finding a suitable one in the US.

All this to say that taking the easier route may be something to consider.