Confirmed with GFC the measurements for the V1 Platform tent and the fact that the Colorado version is backwards compatible with Tacomas of all generations. In case others are interested, the height between the bedrail to the bottom of the tent is 23 7/8" on the Tacoma (and pretty much the same for my Colorado.
Some other rough dimensions that I got from @khm293 (for the good of the group):
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Bedrail to Bedrail (interior): ~ 57" x 73.5"
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Bedrail to Bedrail (exterior): ~ 64.5" x 77"
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Height from side bedrail to top of cab: ~ 20.75" (front rail is lower than the sides, but the camper sits on the side rail)
Thank you again for taking those measurements @khm293! Appreciate your help!