there's nothing that will sleep 3 adults and a child, other than a popup in your Honda's towing capacity.
even the smallest hybrid, which has the same kind of canvas tent ends as a popup, wouldn't have the cargo capacity for that many.
and the frontal area of any travel trailer or hybrid, will probably exceed the max that Honda recommends.
your Honda is a wonderful vehicle for what it's designed for, an efficient people mover.
but all that makes it good for that, are the opposite for what makes a good tow vehicle.