I towed a 20MA with the 2.7 liter 4 cylinder automatic Tacoma. Once. I don't think the trans would take it for a long time. The brakes were not up to it. Towing with a F250 diesel is great. Especially with surge brakes. 4WD is needed for really steep ramps.
I wouldn't suggest it, but a 3 ton F250 can haul and stop a 25 footer on a trailer withou brakes. Not well, but not horribly. Which is nice in case you lose trailer brakes.
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