We have a 4runner - and it tows ok, not as good as I would like, esp since we have a v8 (2004), but will be fine. Look at where your connector is. Ours is offset to the left more than it should be, which meant that the cable coming from the trailer was not long enough. We have pulled three different pups with this vehicle and we had to have all three modifed to have a longer cord. We only learned that it was not long enough when we turned the corner on our first PUP. I am not sure if they fixed that in future models.
Regarding brands - it is probably more important to choose a dealer you feel comfortable with, because unlike a car dealer, you wont have anyone nearby to change to. This is how we ended up with a Trailmanor last time. Our Coleman dealer stopped carrying colemans (and then the brand went belly up) and we did not like any of the other PUP dealers in town.