Based on what you are looking for, the Acadia/Traverse would probably be a good tow vehicle. If you didn't have a family, your original thought of the Pathfinder might work, but once you add everyone's weight that is pushing it (like others have already said).
So how can you determine if a vehicle would be suitable as a TV?
My understanding from this thread is that looking at the capacity numbers plus taking some extra margin is never enough?
There are those who seem to be over cautious and don't want to pull anything with anything less than a full sized truck. I have a 2000ish LB pop-up (empty), when shopping I was looking at pop-ups that would run 1400-2500 dry and 2000-3000 loaded. Many people suggested I get nothing less than a midsized V6 pickup, and some suggested that wouldn't be enough and suggested only full sized pickups and truck based SUVs (and believe it or not, I got 2 or 3 who recommended a 3/4 ton pickup). Some people have the money for a dedicated tow vehicle. Others have the luxury of a short commute. I needed something that would be a daily driver and meet all my needs, and I put at least 20K miles a year on my vehicles.
However, do keep in mind that the published numbers are basically a best case scenario. They used to be based just on a 150LB driver, though I think they now also include a 150LB passenger. Anything additional in the vehicle (passengers and gear) have to be subtracted from the tow rating. And of course, the tow rating can be quite unrealistic for a family when you consider the payload capacity and tongue weight. Further, all those numbers are based upon driving on level terrain at sea level. Any higher elevation, and your real limits are lower. Any incline, and your limits are lower. So, while some people are overly cautious (IMO), you do want a nice cushion in your numbers and you really don't want to push things out to the limit.
I think the Acadia/Traverse family you seem to like are a good option. You may also want to take a look at the Jeep Grand Cherokee and Dodge Durango. They are similar in price to the Acadia/Traverse, but have the more capable body on frame truck style frame.