kvangil has it right.
on a 2004, there's a white factory weight sticker on the inside of some cabinet door.
it shows what the trailer weighed when it left the factory, called its "UVW"(unloaded vehicle weight). should include 40lbs. for propane.
DON'T go by any "dry" weight in a brochure or website.
that trailer will easily weigh 4000lbs. loaded for camping and that's a conservative number. probably closer to 4400lbs.
your Highlander's GVWR is what its max weight alone is. that's counting passengers, cargo and tongue weight of trailer. really doesn't indicate what its towing capacity is.
you subtract what it weighs empty from the GVWR to get a ballpark amount of what the Highlander's payload amount is.
and just cause the hitch says 5000lbs., doesn't mean that's what your car can tow. that's the weight rating for the hitch itself, no matter what vehicle it's been bolted onto.
you need to check your owner's manual, especially hitch/tongue weight for a soft-suspension SUV like yours.
Dan- Firefighter, Retired:C, Shawn- Musician/Entrepreneur:W, Zoe- Faithful Golden Retriever(RIP:(), 2014 Ford F150 3.5 EcoboostMax Tow pkg, 2016 PrimeTime TracerAIR 255 w/4pt Equalizer and 5 Mtn. bikes and 2 Road bikes