This is in the category of "I know someone who....". But really, my buddy tows a similar bumper pull with a GMC Terrain Denali (the small crossover). I've gone camping with him a few times, he went camping about 15 times last year with that setup, a couple times already this year. He does it and thinks it's just fine, but he's never pulled anything in his life. Just like my first setup was a 2003 GMC 1500HD with the 6.0 and pulling 9,000 pounds. I didn't know any better (hence the overkill with a diesel pulling 7,000 pounds now, and my next ride will be a 1 ton.)
Now he does have a family of 4 and he's right at the max tow rating so I'm sure he's over the payload. I don't recommend it and I wouldn't do it, but I'm saying people do. I have towed 2,000 pounds behind the wife's old Buick Enclave, basically a sled deck with 2 quads on it, and it did fine there. But I couldn't imagine pulling a camper with it.
If you want an SUV, I'd seriously look into the Yukon/Tahoe or Sequoia size rigs. Yes they are bigger and drink more fuel, but towing you'll be much happier.