A colleague with a 17-foot Casita pulled it with a 3rd generation Grand Caravan (3.8 V-6) for about 10 years before replacing that with a V-6 (probably 4.0) Explorer with a more modern transmission. Both vehicles were adequate.
I've been looking at the Casita option, my tow vehicle would be my E-350 van with 5.4 V8 (6700 pounds nominal tow capacity). With 3000 pounds unused cargo capacity, 500 pounds tongue weight would not be an issue. This van is my road trip vehicle, and where I live something this size not too bad as a daily driver, though I more often use a subcompact car to bop around town, because a a tiny car is easier to park.
I know people who pull these with V-6 Highlanders and Honda Pilots. V-8 anything is more than enough, and if you really prefer a SUV with primary RWD, a V-6 4-Runner or XTerra would be adequate, any V-8 SUV more than enough. I don't know the Hyundai/Kia model lines, we just don't have dealers here for the Korean manufacturers, and I just don't buy anything I have to drive 50-100 miles to get dealer service.