Dennis, I have been towing my 2004
Scamp 19D with a 2013 Tacoma. I think they increased the size of the engine sometime between 2004 and 2013, to 4.0. It seems to have plenty of umph, I am quite happy with it. The few times I needed to accelerate to merge, I just put my foot down and it responded as expected. I am sure the Frontier will work well. When I was looking, I was comparing those two.
Maybe a year and a half ago I posted a detailed description how I installed the "new"
Scamp hitch kit that I bought from Eveland's (~ $600). The Taco bed is made of SMC (Sheet Molding Compound) and the dimensions worked out so that I was able to use two of the bed mounting points directly, two more by means of a flat steel bracket. What you are trying to do is similar, so here is the link:
http://www.fiberglassrv.com/forums/f...tml#post436185
That "new" hitch is removable, only the Reese rails stay behind when not towing.