The Jeep will do it, but I recommend a good weight distribution hitch with built in sway control. My Liberty performed well towing my 2 Roos. But, in my opinion, it was good for trips of less than 4 hours. I did 2 trips in 2 weeks this summer, totally 3500 miles, and we decided it was time for a truck.
As for the engine, the 3.6 is not a bad engine. Seems like it has some decent power for the size. Of course, you will have happier with the V8 if you plan on towing in mountains. (Of course, you will be smiling more with the EcoDiesel). The V6 will be better on fuel economy for daily driving.
Edit: Looking at your floor plan, I would just like to mention the front part was similar to my Roo 21BH. I hated having to crawl over the table to get in and out of bed. If it was for a kid or 2, then I think it is easier for a kid to do it. As for me, going to the bathroom a few times a night, it got old quick!
Great American Anti-Towing Conspiracy2015 Ram Truck 1500 Ecodiesel Tuned By Green Diesel
2006 Jeep Liberty CRD Tuned By Green Diesel (Retired to Daily Driver)
2015 Rockwood Roo 183
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