Greetings from the Florida Panhandle
Welcome to the Forums. We're glad to have you with us.
As to your question, we have a 2005 Safari 25FB that we have had since new. We have towed her over 115,000 miles and have spent almost 1,400 nights in her. We originally pulled her with a 2004 Chevrolet Tahoe which worked OK, but was not exactly awe-inspiring. We moved up to a 3/4 ton Suburban, and eventually to a diesel pick-up.
My advice would be that since you already have the Lexus, give it a shot and see how it does for you. You will be towing over 7,000# with an 800# tongue weight. Check the towing capacities for your model and see how it matches up. A quality weight distributing/sway control hitch system will be a must.
SuEllyn & Brian McCabe
WBCCI #3628 -- AIR #14872 -- TAC #FL-7
2015 FC 25' FB (Lucy) with HAHA
2005 Suburban 2500 Quadrasteer (Olivia) & 2011 Silverado 3500 (Fred) with Outfitter Truck Camper (Ethel)