There is no question that the S10 can
tow the Burro. The question is whether you would be happy doing it. It all depends on you.
If you are willing to go up hills slower than most other traffic, use caution going down hills until you put trailer brakes
on and don't mind that you are putting more load on the truck than it was originally intended for then you will be just fine.
There is also no question that a V6 would do the job better and a diesel even better than that. Lots of people tow with V6 Tacoma trucks and claim they don't even notice the trailer. Your S10 is in the same class but lacks the bigger engine that makes it all come together.