You don't mention the size of your camping family ( kids and pets) but if the crew cab fits the family, I would choose that. Once you get going, you are going to have external grills, water containers, leveling blocks, possibly a waste water tote and many other things you may want to take along. It is best to add as little as possible of this weight to the TM so the bed of the Tundra will be much more practical in my opinion. A quick look at the Lexas specs I could not find mention of a aux trans cooler. A must for mountainous areas but certainly nice even on relatively flat terrain. Although both vehicles should work, I think you will be more comfortable and relaxed towing with the Tundra.
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