I'm using some of the Milenco Aero towing mirrors on my 4th generation 4Runner to tow my 19', same as what others have mentioned.
While they work, they aren't comparable to good OEM towing mirrors, especially during bad weather (high winds, rain, ice etc). I believe the dimensions of my 4Runner are similar to a Tacoma, but I need to tear my suv apart to compare to the Tacoma pictures I've seen on the web.
I'm really itching to buy a pair of the ProEFX Tacoma towing mirrors and see if I can make them fit my 4Runner somehow. For you, it might be a better decision as they should bolt in easily.
Setting up and configuring the Milenco mirrors isn't difficult by any means, but a couple of our trips involved leaving the trailer in a campground, then driving into a city, where the mirrors were a bit of a concern in terms of clearance. Clamping/unclamping/adjusting the mirrors is just another item I'd be happy to take off my list of things to do before getting on the road. Also, readjustment per driver is yet another time consuming affair (if multiple drivers are involved of course).
I'm all about confidence and safety while towing; if good mirrors improve my confidence and speed of setup even a small amount, they're worth it.
Also worth noting the full size Toyota Tundra has an optional set of OEM towing mirrors that are extendable. I was going to see if those were possibly adaptable as well, as the price/quality might be better than the ProEFX.