You won't be happy if you "downsize" from a Tacoma. Stay with a tow vehicle that has a minimum 5000 pound capacity for the traveling you want to do. If you want an SUV instead of the p/u truck, get one with a 5000+ tow capacity.
My former 177 was great for the 4 years of weekend trips I used it for, but it was also just me and my mountain biking stuff. I always found ways to take too much with me every time. If you already have spent 6 months living out of a small travel trailer, you have the experience to know what small travel trailers are like. Always check out the floor plans an do serious walk arounds to determine which Pod floorplan is right for you and your furry passenger.