Either one, Pathfinder or Highlander, could handle it if you don't load too much junk in the back end or in the front of the trailer. Your fresh water tank is probably near the front (under the dinette seat maybe?) and if so, you should only travel with the tank 1/2 full or less. I towed a 14RB with my 2008 Highlander and it did well enough at 100kph (but I slowed down on mountain grades).
If you want to use a weight distributing hitch, I suggest the Andersen No-Sway. It is pretty light (about 60 lbs), it will help level your SUV, and it will smooth out the ride (less bouncing from the TT hitch levering up/down on the rear). I used one, mainly to improve the ride to please my wife, and it worked well. But weigh your TT tongue once you're loaded for camping to make sure you have the wiggle room for another 60 lbs.