The 4Runner was created as an off-road vehicle and by all accounts does that very well. But several of the design requirements that make a great off-roader make for poor towing performance. The high body position reduces stability, the relatively short wheelbase to length ratio increases sway risk and the transmission tends to be geared for low speed mud crawling rather than holding speed on mountain highway grades.
You might find the towing experience better in a similarly tow rated crossover CUV like a Traverse or Highlander than a V6 4Runner. Unless you camp as a base for off-roading in the vehicle. Then the reduced towing performance may be worth it for the vastly improved off-roading performance of the 4Runner at your destination. But if you are coming from the car-based world, take a LONG test drive with the radio off and drive as aggressively as you are ever likely to. You may find the ride and handling disappointing. Make sure its to YOUR liking before you sign.