If you're accustomed to older trucks with bigger engines, fewer gears, and lower fuel economy then the 3rd generation Tacoma's shift patterns can feel confusing at first. A few things to keep in mind:
The truck has two overdrive gears. 5th gear and 6th gear are both technically overdrive gears. The concept of an "overdrive gear" is outdated anyway, but if it's any comfort know that 5th gear is still overdrive. If it helps, think of 6th as a "bonus" gear that gets used where possible to maximize fuel economy. If Toyota had just omitted the 6th gear and kept it as a 5-speed transmission then the vehicle wouldn't shift as much, but you'd also get worse gas mileage.
Old transmissions only upshifted when the driver requested more power. Newer transmissions, including the Tacoma's, will also shift to optimize fuel economy. Even if the engine could lug the truck up a hill in 6th gear, it may be more efficient to shift to 5th instead. A lot of people misinterpret the shifting as an indication that the engine doesn't have enough power, but really it's also trying to optimize fuel efficiency. Forcing it to hang on to 6th may not be an optimal strategy.
Unless the truck is really struggling or shifting erratically with smooth throttle inputs, it's almost certainly normal. Just let the transmission do its job, and enjoy the fuel economy benefits.