Greetings from the Florida Panhandle
Welcome to the Forums. We're glad to have you wit us.
As to your question, The Highlander could be adequate if set up properly. You will need to start researching quality weight distribution/sway control hitch systems. There is a lot of information here on the Forums on this subject. You will also need a quality trailer brake controller.
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)