Our previous travel trailer was a Rockwood 2502. 25', no slide, 3995 lbs UVW. We used an Equalizer weight distributing hitch, and towed it with a 2005 Nissan Xterra, which had a 5000 lb towing limit.
The W/D hitch kept the trailer/tow vehicle level (see pics below), and prevented hobby-horsing and greatly limited any sway due to cross winds or large trucks passing nearby.
I towed with this setup for 4 years, and it worked very well. It had no problem handling the added weight with the 4.0L engine.





Properly equipped: W/D hitch, brake controller, transmission cooler if not already equipped, etc.
FWIW, we have a 2017 4Runner TRD Pro. I wouldn't hesitate to pull the same travel trailer with an equivalent setup to the one we used with the Nissan.