Towing with an Explorer, Highlander or 4Runner-experiences?

The 4Runner is a great vehicle, I've had two. The 4.0l is a bulletproof engine and will tow that weight well. The short wheelbase is a downside, as with most SUVs, but a quality hitch with built in sway should help.

The stock hitch on the T4R is only bolted to the crossmember and is not rated for use with a WD hitch. It can be done but you risk damage. You'll want to consider upgrading to a frame mounted one. Not sure what's out there for the newer generation T4Rs.