Who's Tacoma is this? How experienced is the driver? If it's an inexperienced driver who is trusting
you to lead them on a trail they are capable of completing without damage, I would not do it. Even if there is no damage to the truck, the driver will probably leave a little freaked out, and have a negative view of 4 wheeling. For new drivers using their own equipment I have found it is best to take them on a trail that is well below the capabilities of their vehicle.
If the question is "Can an experienced driver navigate a stock Tacoma through PSM without damage?" then the answer is yes. If the question is "should I take an inexperienced driver in a stock Tacoma through PSM for her first 4 wheeling experience?" then the answer is no. My .02.