Hi Drew,
The short answer to your question is yes, absolutely. The size and type of tire you describe is a great all-around choice for a truck that spends a lot of time on the pavement, but is still ready to hit the trails when you can. A good 4x4, quality tires and decent ground clearance is all you really need to get out and start enjoying some great adventures. If you are new to off-roading as you say, then it’s likely your Tacoma is currently capable of anything your driving skills are ready to tackle. As your confidence increases, you will push your limits and eventually get stuck, no matter how much tire you have under you. It’s part of the adventure. Have a plan and the capability to recover your rig and get back after it. Get out there and enjoy yourself.