Congratulations on your purchase, Lee and Nancy. We tow our Escape 21 with a 2005 Tundra, which is very similar in size and power to one of the new Tacomas.
What became apparent to me when we took delivery of our 21 was that the spray foam insulation decreased the clearance even more. It looks to be more that an inch thick in places (maybe even 2 inches?), which is why I am getting the lift kit installed ($500 after delivery vs $300 during the build). The extra 2 5/8" may prevent us knocking off some of the foam insulation or a jack on rough roads. Though the equalizer hitch helps reduce the up and down motion, there is still enough bobbing to worry me that the trailer may be damaged if we don't get additional clearance. Then, of course, there are dips in the road that reduce clearance at front and back, another situation where extra clearance would help.
p.s. I started a thread on the Escape 21 lift kit just the other day:
Lift kit for Escape 21