Honestly its was probably about $33k new. Price is a bit high considering mileage. I bought a brandnew 2015 Tacoma SR5 Quad 4x4 auto V6 for 28,900 before tax etc. All the 2 to 3 year old ones were 25K. Went for new. They hold there value so well it almost pays to go new.

That is too high for a five year old truck with 78k on it. You can just buy the new version of the truck and use it for 100,000 miles and still get $25,000 if you try to sell it. Tacomas have crazy resale values I would never buy one used; they also have a rusting problem on the second generation, but the 2016 is the third gen and I am not sure about it. If you get a new one, you will not have to do any maintnence and get it 5 years newer and 80,000 miles lesss for only about $4000 more. 

Some issues people reported for 2016:

https://www.carcomplaints.com/Toyota/Tacoma/2016/

Less issues in later years:

https://www.carcomplaints.com/Toyota/Tacoma/

Realize also they made 191,631 Tacomas for the US in 2016.