If you are going to do any towing get a trans cooler fitted
my 155 Prado had the auto trans overheat light come on a couple of times while driving through the soft sand from Noosa Nth Shore to Dbl Isle Point
The Prado, while having the same engine as the Hilux does put out more power/torque, and my Prado is the SWB which weighs the same as the Hilux
and if it overheats while just driving on sand with only passengers and nothing else it surely will when towing