Hello and welcome to the Forum.
If I am correct your Toyota has a towing capacity of 7100 lbs. (with one passenger and no gear). The trailer you are considering has a GVWR of 7400+ lbs...
I didn't check the payload of your Toyota but you could be looking at a loaded hitch weight of 1000 lbs or more so that may be a big problem also for you once you load up the family and your gear.
These are issues you should consider before you sign....and if you do sign do not let them snicker you into the $2000 paint protection package...It's a complete rip off.
Good luck with you choice. You are being wise by researching first. Don't give up on it. Camping/RVing is a great family activity and adventure.