You don't say which engine your Toyota has, but assuming it's the V6 the tow rating is only 5000 lbs. The 214WSD has a dry weight of 3800 lbs. The dry weight of the trailer is measured without the 'accessories' such as propane, battery, awning, hitch, etc. So once you take into account all your gear you will probably be either very close to, or over 5000 lbs.
Here's a link to a website that has a pretty good explanation of towing terms and a calculator to estimate your particular situation.