2006 Rav-4 V6 4WD for Tow vehicle??

This is my first post. If this has been discussed here I apologize. I have a 2006 Rav4 V6 (269HP) Sport with 4WD and the trailer towing package which included HD Radiator, Alternator, and Transmission cooler. I'm looking to buy a 2006, 2720SL and was wondering if I'd be OK. The vehicle is rated at 3500lb. Tow capacity and the factory DOES NOT RECOMMEND using a Weight Distribution Hitch. Might have something to do with the rear independent suspension.

Any help/advice would be greatly appreciated

TIA

Bob