Buying a used truck, especially a Tacoma, is a challenge because many of them are missing desirable full size truck features.
Like the "Trailer Towing pkg" (TTP). Features a 3:73 rear axle ratio. Trucks need low end torque for towing and hauling full loads. Your Fully loaded Fleet will be close to 1,400 pounds dry plus camping gear and water. (another 300 pounds or so).
You will need 10 ply Load Range E tires, air bags or rear leaf springs. . Get enough to support 1,800 pounds in the bed. TTP also includes larger radiator, transmission cooler and heavy duty alternator.
You don't state what part of the country your in. If near snow or the desert try to get 4 wheel drive. If anything they have a higher resale value. if they have it with either the "TRD - Offroad", or TRD Sport " package try to find one with one of those packages.
Performance with the V6 and automatic. This is our first automatic Tacoma. We manually downshift it to save the brakes. especially when we are 700 pounds over gross and pulling a small 2300 pound car. We regularly pass semi's (not with the car attached) on 395 a 2-lane highway in the desert. Even with all that weight it goes like a "scalded cat" and still gets good gas mileage. to boot. Easily passing semis is a function of low geared rear axle and torque of the 4 liter V6.
I'm often asked why we bought the Tacoma instead of a full size truck? Answer: camping only 30 days a year it is just easier to drive the smaller vehicle around and park it in regular length parking spaces. Our Eagle is mounted full time. Weight isn't an issue because we have an improved shell model that only weighs 1,100 pounds dry.
Good luck with whatever your choice is.