Your truck has the same caster on the left and right front wheels, so it doesn't pull on a level road. But, it doesn't have enough caster, so it pulls when it's on a slanted road. The cure is to align it with more caster.
My recommendation for the Tundra and Sequoia is also good for the Tacoma, and I practiced it on my '89 Toyota truck (which was before it had any other name): Set camber and total toe dead on the factory spec, and set caster all the way at the upper end of the range that Toyota allows for it. Neither Toyota nor the alignment shop should have any valid grounds for complaint.
The cure is simple, but you'll have to find a shop that's willing to do it right.
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