I also have a heavier camper on a Tacoma (in my case a Fleet Flatbed on a 2016). And yes it can be done, and the end result is great for our application. However, this camper is mounted full time, I have replaced the entire suspension system of the Tacoma, upgraded the tires, and added airbags to fine tune. Even with this it is still a compromise. For us, a smaller more nimble and capable camper is important - both for parking in the city and on trails. So we were willing to spend significant time and money on modifying the truck and accept that it is heavy, drive accordingly and increase the maintenance.
If you are not sure this is for you, either rent a truck camper for a few days and try it out or start with a lighter camper that is better suited to your truck and won't necessitate a bunch of suspension work. A used Eagle/Fleet shell model would be a good place to start.