I tow my Boston Whaler 210 Montauk NJ to FL (~1,200 miles each way) and back twice a year with my 2019 4Runner Limited. My boat/motor/trailer comes in at 4,700 lbs - (certified scale), trailer has surge breaks. Tow at about 60MPH - mostly flat on I95. I never have had any issues (except gas mileage!) six trips so far. I do change the driveline fluids every 30k miles. The weak spot on the 4Runner are the brakes. The Gen 4's with a V8 where rated at 7,300lbs.
Pretty good video review of towing a cargo trailer with a 4R :
TOYOTA 4RUNNER REAL WORLD TOWING. CAN IT DO IT? - YouTube