(1) Welcome to CT!
(2) The 2 clues we have to go on are that it only happens in 4WD and only when the wheels are on the ground and the truck is moving. Given these clues ...
There are 3 theories that come to mind, and they may or may not be entirely independent of each other.
Theory A: Brake / ABS Weirdness
This one is simple - for some reason the left front brake is dragging. I don't know why the brake would drag only in 4WD and / or on the ground, but it could result from one or both the following 2 theories ...
Theory B: Front Left Drive Components (Differential / Axle / Maybe Wheel)
This theory focuses on the front left drive engagement from the front diff out to the wheel. If there's something like a bearing going bad (whatever) anywhere from the diff out to the wheel it could cause a bind that you feel as a pulling to the left in 4WD. The fact that it only happens when it's on the ground tends to suggest something somewhere along the left front drive axle, but that's not a sure bet.
Theory C: VSC / TRAC (Stability / Traction Control System)
If your Taco has the VSC / TRAC system, it uses the ABS system to juke the pressure on any / all 4 brake units in response to signals from sensors at each wheel. If your left (or maybe even the right) front sensor is signaling the controller that something's locking / dragging / slipping, the controller might be attempting to correct for apparent slippage / locking by juking the left front brake. It could be a bad sensor, a wiring / connection glitch, a crazy controller, or some mild dragging of the sort that might be caused under Theories A and / or B above.
Those at the 3 possibilities that I can offer off the top of my head. Then again, I could be totally wrong.
I'd start with Theory C (VSC / TRAC weirdness). If the stability / traction stuff checks out fine, I'd move on to the left front drive axle (and connections on both ends). You may not be able to totally rule our Theory B until the front differential is checked out as well.
Hope this helps ...