I have been looking at larger camping trailer for when I retire. I saw one nice one, around 6,250 pounds. I told the owner of the RV store, I was getting a 4Runner with a V8. The dealer said that is too small, sure 4Runners are suppose to tow that much, but it with pull you around and go all over the road. You could tow 7,000 pounds, but it would have to be at 40 MPH. (This was before I got the 2004 V6.) The guy said you need a heavier, bigger vehicle, something like a Tundra.
I basically walked away from the deal and thought I will just figure out what I need when I actually retire, which is now about 1 1/2 years. Your figures are close to mine and it was from a guy who sells trailers for a living and has been in the business for a long time. I think I will go back to him to buy, as he seems pretty honest.
http://www.normancampers.com/
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2001 & 2004 Toyota 4Runner SR5 4X2
Both V6 and both Natural White
"Yeah, I like white and I like 4Runners"