I have a double cab 2.7 automatic and it’s fine. I’ve owned a v6 Tacoma, several v8 sports cars, and several Ducati suprbikes and don’t think my truck lacks at all.
My wife has a highlander with the 2.7 however it’s the “other” version with 185 HP. Absolutely amazing engine and moves that vehicle great! I would love that version in the Tacoma and always wonder why it isn’t!