I have a 2020 Tacoma that I use mostly to haul my race car(s). I do not like trucks, did not want a truck, but *really* did not want to work on a truck. Like you, I concluded the used market was insane and just bought a new one. I got the TRD sport, access cab with the long bed and manual transmission. It's rated to tow 6,000 pounds. I was able to get a slight discount on it because it had 50 miles on it--sold to someone whose financing fell through. I did not get the color I wanted, but settled because it had everything else.
Value-wise, the Tacoma is overpriced when compared with its competitors. I expect Toyota-like reliability from it, but it's unclear that the other small trucks will be that bad. But I like and trust Toyota, and crucially, the Tacoma is available with a manual transmission which was a must-have for me. (I have rules. 11 cars, and not a single one of them has an automatic!) So I signed up for a car payment on the most expensive vehicle I've ever purchased and I don't like trucks.
I've got 14,000 miles on it now (5,000 of which were from driving from Colorado to New Hampshire to pick up an E30 rally car a couple months ago). The rest of it is towing my Formula Vee around. It's been flawless reliability-wise (but with 14k miles over 2 years, it better be).
As someone else mentioned, reverse is way too high for towing. Actually, it's too high for not-towing, but it's terrible for towing. While you can put it in 4 low to back a trailer on dirt, doing so is murder on the diffs on pavement. Fortunately, this is available:
https://www.tacomaworld.com/threads/group-buy-2lm-pnp-plug-and-play-2wd-low-range-for-the-3rd-gen-tacoma.614743/
I've installed it, and it absolutely fixes the backing a trailer problem at the cost of some button pushing and knob fiddling.
The next problem is that while an E30 and this trailer are under the 6,000lb towing limit, if you also fill up the bed with spare rally car parts, it sags badly:
The sharp cutoff headlights did a great job of blinding everyone on my way home with the rear sagging like that. I've since installed a set of airbags which fixes that problem. Pre-airbags the rear suspension in the truck was quite unpleasant while unloaded, but an unexpected benefit is that somehow it's better now. I'm not entirely sure why--the rear felt over-sprung and under-damped when unloaded. The airbags at the min 5psi have minimal effect, but the way they're mounted looks like it might *slightly* increase the leaf spring rate because it slightly changes their pivot point. In any case, it's even more over-sprung empty now, but doesn't bounce around as much?
It has plenty of power for towing, but its Camry engine makes a lot of it over 4,000RPM. 6th gear is usable only on completely flat terrain--you need to downshift to 4th for any moderately sized hill. This doesn't bother me, but I think if I had an automatic that would have to go hunting rather than being able to plan ahead with a manual, I'd hate it. I get 18mpg towing my Vee (probably under 2,000 lbs with the trailer) at 80mph. I got about 12mpg towing the E30 at 70mph.
I'm fine with the seating position, but my 5'6" wife finds it absolutely terrible. She has to put a pillow behind her back so that she can operate the clutch without her shin banging on the panel below the dash. I'm 6'2" and my right shin hits the center console thing at some angles, but it's mostly okay.
A surprising thing to me is how low-tech the Tacoma is. It's got things like rear drum brakes and a belt-driven fan, features that I thought went away in the '80s. The upside to the simplicity is that it should be easy to fix when it breaks. It has modern-car things like auto-high beams which blinds oncoming drivers but gets confused by reflective signs, radar cruise control which slows down and lets everyone get in front of you when it sees a car on the horizon (actually nice when towing, terrible otherwise), and it beeps when you cross a lane marker without using a turn signal. The upside is it has android auto, which is the best thing to happen to modern cars.