Different people consider "perfectly acceptable" to be vastly different performance results.
Some folks won't tow a john boat with an F250, others are just fine towing a classic boat with a crappy cutlass.
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I thought my wifes Traverse SUCKED when I towed my 190 with it. Another guy here LOVES his Traverse for pulling his 195 around. Clearly his standards are different than mine. That's OK. Some people are OK closer to capacity than others. Some have a better affinity for paying attention to details and driving dynamics, while others want a "don't even know it's back there" result.
I think we can all agree that, of the Yamaha's made in the last decade, a 19ft is fine, a 20ft will be close, and anything larger will be a stretch with a Tacoma. I equate the old 23' boats with the newer 20ft boats in terms of weight and tow prowess required. New boats are taller (less aero), and heavier.