My tow is a 2014 Tacoma, manual transmission, access cab, 4X4 off road package (slightly stiffer suspension), tow package. I had to change out the standard mirrors for aftermarket mirrors. And I had to do some creative carving to find a place for the brake controller. These are two things that Toyota should have included in the tow package - in my most humble opinion.
The V6 is OK at 10,000' but not terrific. There is no doubt that it is working much harder while pulling the Escape 21. But in 3rd gear I can keep up with the middle lane traffic going up Floyd Hill at 60 mph using about 4000 rpm. Gas mileage takes a big hit however, down to 13.5 mpg. Had Toyota offered a modern diesel or turbo option I would have jumped for it.
Since the truck is also my daily driver and my off-road explorer, it is a reasonable comprimise. Not great at any one but serviceable enough to keep me happy.