Am I insane for trying to keep my Tacoma?

I grew up in a family of 5 and for most of our lives we had a compact car and made trips all over the country and everywhere in Europe while my Dad was stationed there. They're kids, they're agile, adaptable and a little discomfort now and again can be a little character building! I also, look back on those cramped trips with a great deal of fondness, as do my siblings.

I now find myself in a similar situation; I have a 13 year old son, 10 year old daughter, 11 year old Bassett Hound, and a 4 month old Dalmadoodle puppy. Honestly, the kids are fine. The dogs, on the other hand need space.
We will be doing much like you're leaning. This month I'm ordering a softopper and then will eventually add a rack and roof rack as well. Dogs will be secured in the bed with rough tough kennels. We do a yearly 1800 kilometer trip and I have all the confidence that we will do just fine! As for your camper hauling... if the truck can do it, then keep the Tacoma! I came from a 2017 Ram quad cab and I'm never going back. In fact we had a topper on my RAM, and I would often put the hound back there anyways on long road trips.