Toki Pona is a minimalist philosophical artistic language, not an auxlang. Nevertheless, it has attracted a fairly large and international community of users--enough so that it was possible for Sonja Lang to publish a descriptive book on natural usage of Toki Pona (The Toki Pona Dictionary)! Thus, while this should in no way be seen as a criticism in the negative sense of Sonja's creation, it seems fair to critique Toki Pona on how optimized its design is as an auxlang.
Toki Pona has 92 valid syllables, composed of 9 consonants and 5 vowels. Accounting for disallowed clusters at syllable boundaries, this results in 7519 possible 2-syllable words--far, far more than any accounting of the size of Toki Pona's non-proper-noun vocabulary, which does not surpass 200 words. In developing the toki suli whistle register, I discovered that some phonemes can be merged without any loss of lexical fidelity--so even if we wanted to additional restrictions like spreading out words in phonological space to eliminate minimal pairs, or ensuring that the language was uniquely segmentable, the phonetic inventory and phonotactic rules are clearly larger and more permissive than they strictly need to be. And a smaller phonemic inventory and stricter phonotactics would theoretically make it trivially pronounceable by a larger number of people. For example, we could reduce it to a 3-vowel system (/a i u/), eliminate /t/ (merging with either /k/ or /s/) and merge /l/ and /j/. More careful consideration in building a system from scratch rather than trying to pair away at Toki Pona's existing system could minimize things even further, but if we start there, and require that all syllables be strictly CV, then 7x3=21 valid syllables and 441 valid 2-syllable words. We could rebuild a lexicon on top of that with no minimal pairs and unique segmentation just fine, or choose to make the phonemic inventory even smaller--all while still reducing the average Toki Pona word length, since the current vocabulary does include a few trisyllabic words!
The grammar, on the other hand, I really have no complaints about. It is not quite as simple as it could be (e.g., li could be made always obligatory, rather than onligatory-unless-the-subject-is-mi-or-sina), but it's really quite good--and the minor complexities actually help add to its charm as an artlang.
I am not much inclined to actually construct a phonologically-optimized relex of Toki Pona, as what would be the use? But it is fun to imagine an alternate history in which Toki Pona was designed from the outset with usage as an auxlang in mind. Would it actually have become as successful as it is, had Sonja taken that route? Perhaps we need to consider another contributor to Toki Pona's popularity--Sonja's specific phonological aesthetic. As mathematically sub-optimal as it is, Toki Pona sounds nice. Would it still have become popular if its sounds were instead fully min-maxed for optimal intercultural pronoucneability, length, and distinctiveness? Maybe I'll build a Toki Pona relex after all, just to see if it can be made to sound pretty....
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