While vehicles are now using more power than ever due to more electronics inside (except possibly those with LED lights), a proper vehicle design has the alternator providing enough power at idle to power "practically" everything, meaning headlights on, factory stereo on, A/C blower, etc. I don't know about defrost grids but normally they are only on a few minutes.
This leaves regenerating the amount of current needed to start the vehicle. Alternator output depends on the pulley diameter but you don't want too small a pulley for more RPM or you'll wear out the alternator faster. "Usually" alternator output has a sharp increase when IT'S RPM goes through the idle to about 2000 RPM range. You can measure your alternator pulley to determine its RPM ratio to that of the engine.
After about 2K RPM, it continues to rise in output more slowly, all the way up to the max, though a recent alternator output report I received, didn't plot that past 5000 RPM, probably because it is just guaranteed to output what is specified and it did before that point. That alternator is also 130A and at 1300RPM it produces about 40A. Hmm, I can't find that slip, but attached is another very similar.
However, some vehicles today, possibly your Tacoma too, have more advanced charging algorithms means to eek out a slight fuel economy improvement by reducing drag, that aren't just relying on a steady alternator controlled, max charge possible per RPM. You could get one of those lighter outlet LED voltage displays to try to chart what your particular vehicle does in various driving scenarios.
Yes if you are driving with RPMs above 1300, it is likely your battery is fully recharging if your trip is more than some single-digit # of minutes, unless it is very cold outside and this greatly increasing the amount of cranking time to get it started, as well as slows down the charge rate at any particular alternator output, but if you aren't driving fast, engine heat should warm the battery a bit if driving long enough for that to happen.
As you can see there are several variables so it is best to just compare your peak, engine off battery voltage after a longer trip, say at least 15 minutes, to that after a short trip to see if the battery is getting topped off.
The battery does continue to provide an important function once the engine is running which is buffer and pull down the voltage a bit so the electrical system doesn't see larger spikes.