I regularly tow my 19' triton in my 2007 fj cruiser for long distances around 3 hours. It has no trouble towing at high speeds. The only two issues that make me nervous are stopping fast and speeding up to merge onto the highway. With that being said, I am a very alert driver. I have yet to have any major issues. When I drive over 4 hours, I use an F-150.
also, When I moved to school this year (4 hour drive), I had my boat and all my stuff, gear, dressers, bed, etc and I had no overheating issues when I arrived.
Edit: Want to add that fj cruisers and tacoma have the same engine.