According to the TM brochure, there's only 50# difference between the 2720SL and the 3023. The 3124KB is just 100# more than the 3023. I'm sure they tow quite a lot alike.
The V6s we're talking about have a nice broad power curve (torque). Here's an example:
http://www.knfilters.com/dynocharts/69-8611_dyno.pdf There is no reason to fear having sufficient power to travel the Interstates. There may be reason to be concerned about durability if your camping routinely involves crossing the Continental Divide in Colorado (but we haven't had many reports of problems there, either).
A full sized pickup is a great tow vehicle. But lots of us are doing pretty well with something smaller.