Personally, I'd go for a used 2008 or newer Highlander - I owned a 2008, and the gas mileage (for a 270 HP 4400lb 4x4) was anything but poor, averaging around 22 MPG (compare this to my Sienna minivan, which averages 20).
I mean, a 4-Runner won't be any cheaper used (with the exception that you could buy an older model without loss of tow capability -- something you can't say with the HL), and it will consume more gas (one reason I bought a HL instead of a 4-Runner when I did).
p.s. that 3.5L is fun to drive around town BTW - get the Sport if you can find one!
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