[linux3]

Even later reply.
Search the Tow Vehicles section for my posts.
I HAD a 2016 Ford Explorer Sport with the twin turbo 3.5L V6. 365 HP and gobs of torque.
It was rated to pull 5K lbs. I forget the load rating.

That Explorer pulled my much lighter trailer with ease. Up hill, down hill no problem.
However, like the Highlander it doesn't have a frame.
Like the Highlander it had tires and suspension designed to give a comfy, smooth ride.

I got to where I'd wake up in the middle of the night worrying about the next day's trip.
It's just not safe. Trucks would pass me and the insufficient suspension would wiggle and waggle. Bumps in the road made the front end lose it.

Bought the TT in August 2016 and made a few short trips.
2017 I had a Chevy Silverado 1500 with the trailer package and we started doing 3 or 4, 2 or 3 week trips a summer.
Now I have a 2020 Silverado 1500 and it's even better (Just because of fancy stuff, LT to LTZ trim).
Point is my 3700 LB 195RB was too much for a SUV.

I don't think you will be happy with your Highlander.