Possibly, and yes I am more than likely leaning towards a DRW set up. Pulling the tacoma on a trailer won't be all the time, just certain trips, it more than likely will end up being a Jeep flat towed/ and or a SXS on a trailer, but that wouldn't be the set up all the time.Are you hoping to pull the tacoma at the same time as hauling the camper? If so, then I would lean more toward DRW.
Sounds like heavy enough weights where the exhaust brake on the diesel would be helpful.