[tentcamper]

I think you are good. It looks like 2017 all models came with the tow package.

On my 2012 highlander. I ended up buying and installing a factory hitch. It had the most ground to hitch clearance by about 3" and it has a lot more bolts to the frame then any aftermarket. I ended up finding one on amazon for about $150 less than I could buy local. But it was still about 2.5X the aftermarket hitch price. Also, I bought the light wire adaptor (aftermarket)on amazon for about 2/3rd the the price the dealer wanted.

There were several youtube's on installing the wires for the 2012.