Highlander as a tow vehicle?

Right now we have an 8 cyl 4Runner, which tows over 7K lbs.

We want to replace it with a 6 cyl vehicle. We were thinking of maybe a 6cyl 4 Runner (5K lbs), but now I find out that the 6 cyl Highlander also has a tow capacity of 5K lbs.

We have the lightest of TMs - a 2417 Sport, and usually it is just my husband and me. I have no doubt that a vehicle that can tow 5K lbs has sufficent capacity, but how does it feel to drive it?

Also - when TM lists the approximate tongue weight what does that include? battery? full or empty propane tank? I have one tank and one battery. Right now we do not need a WDH, and it would be great if that would continue, but we realize that might have to change.

Thanks!