Muffler is after all emissions sensors so it will "probably" recalibrate fine and have no emissions issues, but a quieter muffler will tend to cause more backpressure and lose a few HP.
Do you know if it takes the same muffler as the 3.5L otherwise? Being a TRD, does it incorporate a muffler or larger area skid or brush plate under it? If so this may limit the dimensions and pool of potential replacements.
What is the configuration? # of pipes in, # of pipes out, # of mufflers if one-in, one-out for each. Generally that is the first consideration then just what dimensions will fit, and of course the pipe diameter. My point is besides the physical properties to get it to fit and join the pipes, and the baffling for lower noise, a muffler is about as universal a part as it gets and yet, if the non-TRD 3.5L uses a different muffler that may be exactly what you're looking for.
Stock may also be bolted on with a flange but aftermarket could be welded or flange added, even taken off the existing muffler to do so.
I don't know the dimensions vs clearance so suggest you may have best luck posting in a Tacoma centric forum. Both of these seem fairly well populated:
Discussion of 3rd generation Toyota Tacomas (2016-2023)
www.tacomaworld.com
Hi everyone, I did a search without success.. I was trying to find recommendations on a QUIET aftermarket muffler or exhaust system, that that lets the...
www.tacomaworld.com
Another option is put in a resonator (mini-muffler) after the stock muffler, again needing the right dimensions and pipe size (though pipe adapters can be welded on too).