How far would you be towing the trailer? This will e a factor for the 2021 Subaru Ascent that is not an ideal tow vehicle. Short trips like 100-200 miles a few times per year I dont see such an issue, but do not expect to tow much of a trailer across the country too many times.
Yes, the vehicle trans, axles and motor will get a great deal of wear and trans are expensive to replace.
Either get a much much smaller trailer or a truck / suv that can handle towing. Consider also a folding trailer that will have minimal wind drag if towing with a subaru.
You really need a rear wheel drive (or 4wd) vehicle with a solid axle for durability.
Is this your first camping?
Most first time buyers get way too big of a camper than they need. Yes, big expansive campers look nice and provide luxury, but consider you are camping, not moving into a condo. Are you going to live in it, spend all your vacation inside, or is it just for sleeping, showering and relaxing after a fun day outside?
Get the minimum trailer you can live with, not the maximum you can tow.
Small trailers are much easier to tow, park and maneuver.