Just to share our experience. We had a 3 bunk hybrid, 3600 lbs dry weight. Towed it with a GMC Safari, 5100 lb capacity with tow package. We did that for a few years when the kids were smaller and we managed just ok.
I definitely noticed the stress on the vehicle. It's amazing, you don't notice how much elevation change there is on the highways near home until you are pulling a trailer with an undersized tv:). Over those few years I found it harder and harder to maintain speed and climb those relatively small hills without really being hard on the van. Eventually I started to have issues with the van misfiring under stress, losing power on those hills.
And I really live in what I'd consider a flat part of the country, along the West Michigan Lakeshore area.
So yes, it can be done. Lots of us do it or have done it at one time or another, but that doesn't mean it is safe and recommendeded, and the stress definitely takes a toll. I'd say at least know that going in and plan your tv upgrade sooner than later.