Toyota is notorious for over engineering their vehicles and understating their capabilities.
A 4 cyl Taco is rated at 3500lb. A V6 at 6500 means it probably has a better class IV receiver and maybe a tranny cooler. The aftermarket class III would derate the vehicle to 5000lb. The drivetrain is no different on the two V6 trucks. There may be other options that make it more expensive like prewiring but the truck is the same. Same 8.25" axle, same tranny and motor. The 4 cyl truck comes with a smaller motor obviously and maybe the 7.5" rear end unless it is a 4x4. The TRD package is basically an electric locker and shocks.
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