Recommendation towing capacity advice 3500 lbs

I tried towing a tent trailer that was 2100 lbs with a mini-van and friends who towed a small hybrid with a Honda Odyssey. Neither worked very well. We both ended up with trucks as we camp alot. (and after the trucks came bigger hybrids :)) After talking to alot of campers over the years and a few transmission guys, mini-vans are not made to tow. if you do be very careful.