This is a good start providing us some specs of your truck! Based on that you will be able to tow it, but what is the cargo/payload capacity of your truck? Cargo/payload capacity is the maximum weight your truck can carry, this includes passengers, cargo and the tongue weight of the trailer. Sometimes a full fuel tank is included in the cargo/payload capacity, not sure on your tundra.
Look inside your driver side door jam, there should be a sticker with the cargo/payload capacity, should look something like this..
You will probably run out of cargo capacity before towing capacity with your truck. We had a VW Touareg TDI with 7600lbs towing capacity and 1200lbs cargo capacity. It towed like a champ but we ran out of cargo capacity. For example the cargo capacity from the above picture is 1390lbs, so minus tongue weight of an Oliver (mine is 700lbs ish), now you’re left with 690lbs for passengers and cargo.
**FYI, our Ollie fully loaded (we’re full timers) is 6380lbs