Hey Peter, can you remind us what your total rig (w/ camper, wet) weighs? And front vs rear axle weights?
And since you've been running a D load 37" Yoko Geolander X-AT for awhile (which is 3525lbs/ea tire max, at 50psi max...which means less lbs/ea when aired down to ~35-40psi) without issue, remind us why you didn't go for an E load tire which would have more lbs/ea buffer?
Reposted from here;
https://expeditionportal.com/forum/threads/37s-load-d-or-e.220996/page-3#post-3001941
We drove the entire state of Idaho off road (videos coming) with the tires aired down the entire time front 20-25psi and rear 30-35psi. 1,500 miles for 6 weeks. Fully loaded with camper (10-11k lbs). 23k miles on the 37x12.5R17 Load D
Tire letter is "old school" same as the "ply rating" (8 ply or 10 ply). Tires are not built that way! Todays tire construction is "ply equivalent". You're much better off looking at "load rating number" and proper PSI for the weight. When you are driving off road at lower speed (sub 40mph) you can run lower tire pressures.
I'd carefully review the actual tire carcass construction more than the "letter rating" or the "tread pattern". Tires designed for off road use with be constructed with a true "3 ply sidewall". There are not that many "less aggressive" tread design tires with a true "off road" tire carcass.
Hybrid tires I'd consider:
Yoko Geolandar X-AT
Maxxis Razr AT (3 peak)
MT Baja Boss AT (3 peak)
Milestar Pategonia X/T (3 peak) new tire and not as reputable
BFG Ko2 (3 peak) - note the 37" size wears quickly
Also note... it is much quicker inflating/deflating a load D tire. 30psi to 50psi. Compared to inflating to 80psi.
Or you can follow the internet advice... LOAD E on EVERYTHING! Including your Tacoma. HAHA