If things run on time 55 min is enough for a domestic connection in every major US airport as long as a terminal transfer and reclear of security isn't required.and it's all one ticket with no recheck required. But there are still other factors:
-What time of year are you flying? 55 minutes provides little buffer room for delays. Winter time can bring winter storms and delays.
-Do you have mobility issues? MSP can have some long walks. TUS-MSP-TPA should be all mainline so I don't think you'll go into A/B though your connection still could involve a C/D or far F to far G connection.
-What time of day are you flying? If you're flying in the morning, you have more alternate options throughout the day versus later in the day where you may be stuck overnight if you misconnect
-What are the consequences if you misconnect? Are you going to TPA for an event that day or immediately the next day?
-Has there been a schedule change that might allow you to switch to TUS-ATL-TPA? ATL-TPA runs about hourly so if you misconnect there are more alternate options via ATL (plus high frequency service to other airports within a short drive of TPA). Additionally while still a bit of a drive, as a worst case scenario, TPA is at least within a day's drive from Atlanta (~7 hours) while MSP isn't (in most case the latter point wouldn't be part of my calculus but could be for very specific scenarios such as absolutely needing to be in Tampa by a specific time and wanting to have more control over primary and alternate options).