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I had a 2004 Sienna. I was towing a very large Coleman Bayside pop up camper. The factory’s hitch was very low to the ground. When I hooked up the camper it was only a couple of inches off the ground. The trailer weigh was 3250 empty. But I ran about 600 lbs of equipment.
I installed Air lift air bags at the rear. This lifted the rear and gave me about a 1000 lbs extra capacity.
I also towed my 19’ mako boat and heavy trailer 5000 lbs with no problem but not on a regular basis.
You will need to get Air bags installed and a good weight distribution hitch with anti sway bar. But your best bet is get a heavier duty vehicle.
Btw I got 17.3 mpg pulling the pop up with the sienna in this configuration.
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