Does anyone tow a 26' or 27' with a 2004 or newer Toyota Sienna or other mini-van??

I am interested in possibly getting a trail manor. They seem so much more roomy than the Aliner which is what we were looking at. Has anyone had any experience pulling with a mini-van or 6cyl small SUV like the Highlander?

I am interested in the gas mileage (depending on terrain of course) and any other towing issues anyone has experience with.