I've always said, there are no "rights" or "wrongs" when it comes to camping. Your choice of tow vehicle is ... well??? ... your choice.
I think it's pretty much a given, that pick-up trucks are designed and manufactured with the intent of carrying a load of some sort and towing something. Even the smallest of pick-up trucks have beds in them and they are capable of carrying something.
However, a "car" or an "SUV" is a different matter. They are typically not built with the purpose of towing, but rather the purpose of carrying passengers, and usually a family of 2 adults and 2 small kids. More is not the expected usage.
So, when it come to towing with a "SUV" you've got to be careful. Like mentioned above, the body, the frame, the shear strength of the vehicle may not be able to to much more than a very small U-Haul 4x6 foot utility trailer. Just because they come with a receiver for a hitch does not mean they can actually tow anything with substantial weight.
You also have to take into consideration, not only the body and frame strength, but the engine power and the transmission. It might tow for awhile, but what is the long term damage it's causing? Also, the suspension is usually much lighter on some, whereas a pick-up truck almost always comes with a suspension anticipating to carry a load (although some pick-ups are able to carry a heavier load than others, but none will be able to carry 40,000 pounds like a semi truck can!
My Chevy Equinox is actually titled as a "Truck". But I'd never want to tow my 10,000 pound travel trailer with it.
I think, in the end, you have to follow the manufacturers recommendations for trailer weight, hitch type and hitch weight for YOUR specific automobile (whatever that may be).
Here again, just because it called a "truck" or an "SUV" does not necessarily mean it can actually do more than it was designed to do. Check the manufacturer specifications. That's your best answer.
Yes, there are a lot of folks towing way beyond their vehicle's capacity. They may never have an accident because of it, but over time, it's creating excessive wear on the vehicle ... which in time ... will break down. That's the difference between a vehicle designed for towing and one that is no.
FYI, my first tow vehicle was a Chevy Lumina Mini Van and towed a pop-up with it for 6 years. After we switched to our first trailer, we still drove the mini van for another few years, and finally traded it under the program "cash for clunkers" if you remember that.
Our next tow vehicle was a 1500 Chevy Suburban (gas) our our first TT with it was our Dutchmen Sport (Under 6000 pounds).... well within specs of the Suburban.
Guess what? It tore up the transmission after only 3 months. We replaced the transmission and it never worked the same again. We finally traded it for a gas duly 3500 crew cab Silverado pick-up and never looked back.
So, talking from experience here, and not just "hear-say".... ALL the parts of the tow vehicle have to be towable ready and supportive. It's more than just weight capacity, it's the entire vehicle ... from tires to the type of oil used in the transmission!
Check the manufacturer, that's your best guideline.