I wouldnt pull my 20i with a Tacoma. It isnt so much the lack of power from the V6 but the brakes. I dont think I would trust the brakes. Sure the boat has brakes but they will just lock up and push the truck. That is a heavy boat to tow with a light truck.

I pulled a 16ft trailer full of Christmas trees last winter with a buddy's Tacoma and yes, it pulled it alright but if someone in front of me slammed on brakes, I would have been out of luck.

Although I like the looks of the Tacoma better, my Tahoe is about to be traded in for Tundra here real soon. Just my 2 cents and good luck!