I have an 08 Sport V6 and pull a fully loaded 3800 pound travel trailer. It goes real smooth on relatively flat terain and struggles a bit on significant inclines but does manage (I have towed in the Rockies). I agree with "importman" that you have to consider how much cargo weight you will add...
I have a 2008 4runner Sport V6. It has the original cross member hitch. I bought a new 2016 Jayco Hybrid GVWR of 4000 lbs. and dealer added a wt. distribution hitch which I used for for 4+ years pulling the Jayco smoothly and without incident. Last year I sold the Jayco and bought a Forest...