A-frames are nice if you don't mind towing something around. I have a taco as well, and I'd prefer to not have to drag something around. Esp behind a 6cyl Taco. It certainly could handle it, but why slow yourself down and have to deal with a trailer? I've seen a-frame units that sit in the bed of your truck. So as long as you don't have a cap that would be a trailer-less option. However, then gear storage becomes the issue.
----Sorry, this post ended up getting a bit lengthy----
I've been struggling with how to combine a camp setup and still be able to make use of my truck for moving furniture and what not. After all, camping out of it is maybe only 10% of what I use it for. I tried the hard topper with roof rack. Built a platform in the back to sleep above my gear. It was pretty sweet, but only when you were camping. Looked like this:
I even had a thin mattress from a pull out couch that went in. SUPER comfy, and held tons of gear, especially with the roof bars on the topper. IF camping is your main priority then this is def a great option. If you want to use it for other reasons then maybe not so much. I couldn't put ANYTHING back there unless it was tall and skinny. Built it to be able to lift the cap and platform all out at once. However, it ended up being a huge hassle with any less then 3 people to help lift it. Not ideal (for me).
So my plan at the moment is a soft cap with ladder rack and roof rack pop-up tent thingy. I've got the Soft Topper on now, and it rocks. I've slept in the back and been more then comfy. Not really ideal for trips with a ton of gear, but weekend trips just with the dog are perfect:
My favorite part is I can have the topper folded down in under a minute, and back on in about the same time. Makes it great for trips to Home Depot, and cleaning out dirt and dog hair. My favorite part though is using it for tailgating:
Phase 2 will be the ladder rack that goes over the topper and over the cab. Similar to:
I found a place that will weld up custom ones. So my plan is to have a gear basket up front to hold gear (could probably even fit my playboat up there), and bars in the back for the pop up camper/tent. In addition, it will be tall enough to still allow me to remove the soft topper, and my hope is to have lag bolts or something of the like on the "legs" of the rack so I can fairly easily remove the ladder rack. I may even have them build the rack in two pieces So I can convert to standard "pick-up mode" by myself or with minimal help from the girlfriend.
It will be a couple grand when it is all said and done, but it is easier to swallow since I can do it in phases as opposed to dropping a huge wad on a full on Van or etc. Not to mention, I'd much rather be in a truck anyway. I like that the bed is separate from the cab. Gives the dog his own space where he can't bug me while I'm driving, and less hair to vacuum/pick off my ass. Not to mention the obvious 4-wheel advantages of a truck (not that some of those 4x4 vans are anything to laugh at).
Anyway, sorry to write a book here, but I've put a lot of thought into my setup, and tried other ideas as well. So I thought I'd share my two cents. My idea may not fit your application, but maybe it will inspire you a little.