Tacoma towing a bayboat

You can tow it for sure, now stopping on time is another question

You'll be fine just slow down way sooner than you're used to

I have a 2012 v6 4x4 Tacoma. It pulled my 20 xpress no trailer brakes. It was about 3000lbs. It had the truck squatting pretty good and stopping was tough.
I loved the truck but had to move up to an f150 and that was one reason. I now have a frontier 2104 that's right at 4000 loaded. I wouldn't want that behind the Tacoma espically with no trailer brakes. Tacoma's rear spring are soft. You will want 4x4 pulling that heavy of a boat out of wet/steep ramps.

You will max out the GVWR ofnthe Tacoma before you reach 6500lbs. So don't use 6500 as your only unit of measure. Towing 1-1.5x the weight of a mid sized truck will get old

I towed a 22' sketter back in the day when I had mine. It squatted pretty good and had to give plenty room between cars to stop it but power wise it was fine.