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Welcome, Ed... You should be able to find a lot of info here regarding your concerns. We tow a 19' 06 Bambi with and 07 Tacoma and it does just fine... You probably need to check the numbers of the 4Runner''s towing capacity vs the weight of a 16' to be sure it's doable. We are 2 adults and 2 medium dogs in the 19'. We think a 16' would be a bit cramped for us...but so much depends on how you camp/travel. We know a couple who have a 16' with a dog and a cat and they do just fine...however, they "spread out" at a campground and don't spend a lot of time inside, and so most of their cooking and meals outside. As mentioned above if you are used to the van, a 16' will seem spacious... The Bambis can go just about anywhere and are easy to maneuver into small spaces...and of course the nice thing is that you can go on side trips in the TV and not have to teke the whole sheebang along with you...you'll like that.
Good luck and let us know what you decide!
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