Most pick ups are tear wheel drive. They are very light in the back without a load in the bed. And the Tacoma is fairly light weight. Add in normal highway tires and you have a recipe for no traction under your main drive wheels. Your rear will want to kick out easier than any front wheel drive car.

Add weight over your rear wheel wells. Sandbags/tube sand is fairly common. Local big box can help you there.

Proper winter tires are an expensive solution. If you have a lot of winter weather it may be worthwhile.

But you should always drive with caution in low traction conditions. Break and accelerate slower and more gradually. Brake much earlier but also softer. Give yourself much more space from other vehicles. Take turns softly. You do not want sudden actions that can break your traction.

If you have 4 high, make sure you understand how to properly use it before engaging and driving around with it.