Towing 3800lb pop up with Highlander or Pathfinder?

I am looking at buying a Pop up tent (Rockwood) that has gross weight capacity of 3800 lbs. (dry weight 3000 lbs). I am thinking of a Pathfinder or Highlander, which both list 5,000 lbs capacity. Does anyone have any comment on either one or something that might be better? Pathfinder comes in FWD or 4WD and Highlander comes in FWD or AWD. I was thinking the Highlander with AWD would be better, but is either enough If I fully load the Trailer to 3800? Its just my wife and I so not that worried about the GWVR.