Welcome to the Forum....I'll be straight up on this...you really don't have a very good vehicle for an RV.
BUT,
don't give up on this. There are some options out there that will work..
We started with a similar vehicle and a popup (tent trailer). Loved it and decided that RVing was for us....that led to bigger trailers and bigger tow vehicles...
Lot of adventures and great memories and 5 trailers later we are still excited about RVing...
We do occasionally see folks camping using a 4-Runner They seem to be having a great time...
Good luck with it.
