New to RV'ing, need a new vehicle

I towed trailers up to 3500 lbs extensively with a 2008 Highlander. It did okay up to about 60 mph (slower in the mountains of course). I see you are in Ontario; it’s not too hilly there. If you can ensure that the loaded hitch weight is under the 500 lb limit and if your passengers and cargo aren’t too heavy, I think you could do it. You’d need to lock out overdrive so the transmission doesn’t hunt gears and get too hot. Make sure all tires are infleted to max rated psi, and consider getting some LT tires with a slightly lower sidewall to enhance handling. You won’t have enough leeway for a weight distribution hitch, so get all wheel drive and add an anti-sway friction bar.

If you decide to go bigger, you might consider a Toyota Sequoyah or Ford Expedition. A crew cab pickup could work (look for higher payload units, check the door jamb stickers).