From what I know, the Highlander is based on the Camry chassis...
I see it tow rated at #3,500. Generally, a vintage 16' is going to run somewhere around #2,500 dry, more or less. You can easily add #500 to #1,000 in "stuff"; water, food, provisions, and fuels (propane, etc.). Most here recommend a 20% buffer/margin, minimum.
Don't think I'd tow anything with it except, maybe, a utility trailer. There's nothing more miserable than towing too close to spec or underpowered.
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