Best lightweight options for popups travelling with minivan?

Make sure your minivan has the 'tow package', and then it is good to go for 3500lbs, but that also includes the stuff in your minivan (including the kids...)

Our first PUP was a 10 foot Coleman - dry weight was 1750. We pulled it just fine but felt it going up mountains. Still, those were the days when we took monthly trips and we used the Minivan for about 4 years, and then replaced it with a larger vehicle. We still have the minivan, though, 200K miles, drives like a champ, so I do not think we did it any harm.