Dave,
I never owned the Toyota products but I have researched them when making a truck purchase. My brother owns a Highlander. I have the understanding that the Highlander is a unibody (stamped plate) and the 4Runner and its larger brother the Sequoia are truck frame SUVs.
So you are dry, not all wet. You're right on.
I also have my opinion to leave the unibody vehicles to lighter towing. Who knows, maybe unibody vehicles have improved to tow better but when I need the sneakers to stay in contact with the road, I only trust a truck frame to do the job with my 2720.
My next Pathfinder (2015) won't be a Pathfinder because they lowered the tow rating of that vehicle in 2013 due to a CVT transmission. So I will have to look at the bigger Nissan brothers or the 4Runner in a few years.
Bottom line, one has to know what their weights are on both the TV and the TrailManor, and then allow margin.
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2011, Model 2720SD, 13.5k btu Dometic Low Profile Penguin II with a user installed Easy-Start modification, "Jack" TV Antenna, 15" Goodyear Marathon 225/75R15D Tires on Alloy Wheels, Swing Hitch, Electric Tongue Jack, Front Window (now an option). Powered with a Honda 2000i or 3000 handi (depending on the weather) generator when dry camping. Powered with two 6V Trojan T145 batteries when I need to run silent and deep. TV = 2016 Toyota Tacoma Double Cab w/ WDH.
Home Port: Western New York.
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