Hey Jay
I think whay you are looking for is a company called Four Wheel campers. They are very low profile & super lite. My girlfriend and I gust went to their factory out side of Sacramento Cali while out there on a paddling road trip. The one that fits the tacoma is called the eagle, hard to find used ones. Do a google search on four wheel pop up campers for their web sit. Well worth checking into. My girl friend is about to order hers, takes about 13 weeks to get but its custom and very bad-ass
Hope that helps
MM