There are many posts on towing with a 3500 lbs tow rating. Most opinions are that a 2720 is pushing the limit. I have a 3124 and mine weight in at 4240 lbs so it would be way over your limit. Remember, the tow rating of the TM trailer is DRY weight - meaning no propane, no water, no options (A/C, Awning, etc) and maybe without batteries. do some searching on towing and you should find some info.
There are many who tow a 2720 with a Highlander, Pilot, or Ridgeline - which I think all have the same engine.
And there will be others who will chime in I'm sure.
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