Max towing capacity from the rear bumper of any Tacoma (2007) is 3500 lbs. The tongue weight that is applicable is 500lbs. As long as your boat fits within those guidelines, you should be ok off the bumper. If you plan on using it to tow the boat more than once or twice though, the couple of hundred dollars to get a hitch will save alot of wear and tear on your bumper.
Hope this helps.
Ken
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