Trips vs. Boat.... any getting away?

Any getting away from this hand?

Live game, $20 NL , .25/50 blinds, 9-handed
Hero ($20ish)
Villain ($20ish)

Hero is in SB with A[img]/images/graemlins/heart.gif[/img]T[img]/images/graemlins/spade.gif[/img]

5 limpers, hero completes

Flop ($3 or so): T[img]/images/graemlins/diamond.gif[/img]T[img]/images/graemlins/heart.gif[/img]6[img]/images/graemlins/diamond.gif[/img]

Hero bets $3
2 callers

Turn ($12): Q[img]/images/graemlins/spade.gif[/img]
Hero bets $10
MP2 goes all in

MP2 has played with me plenty, and knows I'm tight. At this point I put him on 66.

However, it's only another $4 or so to me to call, with the pot at about $40ish.

I -have- to call here right? Even if I'm about 90% sure he's got the boat?

Results:

MP2 shows 66 and wins hand (river even gave him quads)

Anything I could have done different?