re: Towing a bobcat on a trailer, do I need something else to get it done?

you need to see what class hitch you have. Either 3 or 4. You may need a WDH for anything over 5000lbs on a class 3 hitch.
If you want to be legal. Check your payload and GVWR and axle ratings. these will be the limiting factors for a half ton truck, not the towing capacity.
Yes your truck will pull it, but the set up may not within the limits published by toyota. The sticker on the door jamb and on the hitch and in your manual will give you the info.
If i was pulling it one or two times a year a short distance and not up/down any steep grades, id do it every time with the proper WDH hitch