I have friends with Tundra's that tow and they work great until you start adding more weight. For towing a car, and a set of wheels and tires and a few tools they get the job done well. Start adding enclosed trailors, 20+ feet long etc. etc. and you'll need a Diesel or wish you had one.
I'd seriously consider getting a Diesel though. With some minor modifcations you can't even feel a car back there and they get great mileage.