Look at the GCWR of the TV..... not the dry weight of a trailer.
Dry weights can be any number the mfg wants it to be . At what point is an RV weighed ? with all the options ? ...without ?
I would also be looking at the gross weight rating of the trailer. That's a more real number. That weight is where you will probably be closer to than any 'dry weight plus stuff' calculation.
ADD that to the combined weight rating of the Highlander and see where you sit .
I prefer a TV with a longer wheelbase and a larger fuel tank. I also prefer the more stiff suspension of a full size full frame vehicle. It handles crosswinds better . The frontal area of TT's effect suv towing more so than a full size truck.