I have a 2005 Tundra double cab. I have pulled my new to me 1996 T-2053 a short distance of about 50 miles on highway, country roads, streets, flat terrain and some rather hilly terrain as well. It towed OK.
I wouldn't use it on anything heavier personally. The tow was from the seller's house to mine, thus not a "camping ready" load. About as light as it and truck combo will ever be.
My 2005 Tundra gets about 15 miles/gal. going from work to home on country/town/street driving.
I haven't kept track of it pulling my 1983 T-1550 in the hills and dells of New England and Up-state NY, but I'm guessing that about 10 miles/gal. isn't all by much.
The T-2053 may actually be a little lighter or just a small amount heavier than the T-1950.
I was interested in both models.
I'm not sure where I would cut off towing with the Tacoma. The T-2053 is as heavy as I care to pull with my Tundra 4.7 though.
TT:1983 Sunline T-1550
TT:1996 Sunline T-2053
TV:2005 Toyota Tundra Double Cab 2UZ-FE i-Force 4.7 L DOHC (MFI) V8 4WD SR5 Automatic
P3 break control
"I know a lot about nothing and nothing about a lot"