Exactly! I had a 04 Tacoma(190hp) that was rated by Toyota for 5000lbs. I would regularly tow 7500lbs (car hauler/FJ40+other crap mostly) and sometimes up to 9000lbs. No problems stopping (trailer brakes), over heating (tranny cooler), sway, Nothing! Sure it was never a rocket(but is cruised at 65) and it sucked gas, but it got the job done.
Did it work? Then what is the problem. You just need to remember to take everything at a slower more direct pace when towing.
If you guys are really concerned about towing stuff go buy a CXT and be done with the worry of can I make or not. Just hook it up and see if it works, if not oh well, rent a diesel P/U.