I appreciate your reply to my questions. I have slowed down to 200-250 mile days when possible, although just traveling in a Highlander I can "do" 350 or more if I have to. I never drive over the speed limit and often below it. I pulled a 34' 5th wheel with a Ford 351 Diesel for a couple of years, but it was way more than I need now. I lived in it for 2 years. As for my travel preferences, I take the secondary roads where possible, and have driven a big part of the way across country on US12 as well as on US2. The worry I have with towing a lightweight camper with the Highlander is the mountain ranges I have to cross - the Sierra or Cascades; the Rockies; the Alleghenies; and the Appalachians.
I do have health issues, and while plenty of people my age and older travel all the time, I don't think my eyes are going to allow the kind of travel I like to do for many more years. I also have a number of other health issues, but rather than sit around worrying about them I want to just get up and go!
The Escape is more than I want or need. There is a Jayco Jay Series Sport, floorplan 8, tent trailer that would be perfect for me. I hope someone out there can tell me if it would be difficult for one person to set up and take down on their own. Also, the price quoted on the Jayco website is about $2k less than any local dealer. For the difference in price I would consider picking it up direct from the factory, if Jayco allows this.