Digging up an old thread, sorry about that.
We have a Kia as well. Used to have a 2013 V6 and wife just upgraded to 2016 V6 as they gave a great deal. We towed a 2000 lbs GVWR tent trailer last summer and I couldn't feel that trailer when towing even when we had it loaded quite heavily...possibly over GVWR. The new Kia has 5000 lbs towing capacity, but the hitch weight is still just 350 lbs. Our trailer is K-Z Sportsmen 16BH 2140 lbs dry weight, 2700 lbs GVWR and 290 lbs dry hitch. I may regret my decision to tow this trailer with Kia next summer, but I am willing to test it. I may take the 3rd row seats out when towing.
I have seen a photo of somebody towing a Coachmen Clipper 17BH with 2011 Kia Sorento V6. It's over 2800 lbs dry and 3600 lbs GVWR with 406 lbs dry hitch. Photo of the set-up doesn't look good and I would not tow something that heavy.
Sorento Diesel is quite popular tow vehicle in Europe, but the tongue weight is 165 lbs/75 kg or so (different balancing with axle further forward) and the trailers are typically more aerodynamic and the towing speeds are lower everywhere else but France where it's legal to tow 130 km/h.
Disclaimer, I have very little experience towing RV's and might be back later this year telling everybody not to try this.