Matt,
I pulled my hybrid with the 4Runner and it did fine. I seem to remember the total weight around 4200 pounds loaded and ready to go. I also seem to remember the 4Runner had a tow rating of 7200 and we sort of knew we were going larger than that so before we got our Airstream I upgraded to a Tundra with the 5.7 V8. This thing has a 10k tow rating so I am good to go.
I also loved the 4Runner and if we had stayed with the lighter trailer I would still be driving it. The problem with the 4Runner and your Pathfinder too is that you won't be able to carry very much extra "stuff" with you. That was not a problem with just the wife and I but we always had extra baggage with the two daughters along.
Again, nothing is perfect for the long haul. There are some pretty good fits for now. If you think you might want to do something different later, look at good used units now. You might save some dough in the long run. Good luck in your search. Best wishes too.
Dick