Yes. I have an '04 Tacoma with V6 and Auto.
The V6 has enough nuts to tow the V20. I don't believe the 4 is enough though IMO.
Do a little research and you'll find that the V6 automatic gets as good or slightly better gas mileage as the 4 cyl standard shift. It was a no-brainer for me when I was looking. My mileage range is 19-21 mpg.
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Heavily medicated for your protection.
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