we own a 4-Runner 2011, V6 also, and we tow a 2012 FunFinder 189fbs. We like it. The 4-Runner can tow 5000 pounds and the trailer with everything in and out weights around 3400 pounds. The pin weight is 300 pounds. We have a good brake control (Primus-IQ) We have Husky towing system (plus anti-sway)
We just came back from a trip close to Mt Washington, and everything went very well. The 4-runner is very comfortable also.