Call Toyota and find out what was the difference between the Highlanders with/without the tow package.
My first pup was a 10ft coleman, but still my Toyota minivan was not up to it, but the only thing that was needed was a transmission cooler (and of course -brake controller, wiring, hitch, etc)
OTOH, I think even 5000 tow capacity might be too little. I have the lightest Trail Manor (2417) and I would use a 5000 tow capacity vehicle for my next TV purchase, I wouldnt want to do that with the largest trailmanor.
I love my trailmanor. Try this group
Trailmanor Owners Forum