Highlander (with a jet pack chip) here, Equalizer hitch and FC20' so not quite the same. Note the highlander at 5K for my model year 2008 was rated higher than the 4 runner of same vintage (4500)
53K miles since 2017 (bought new in 2015, retired & broke leg in 2016 so maiden voyage Jan 2017.) including 3 XC trips from OR.
Tows sweet and true and believe me when we I say we have been thru some extremely high wind areas (OK, WY, Eastern WA, S Dakota, San Joaquin Valley in CA to name a few) I have been over Donner WB a few times and EB I-84 out of Pendleton. Not the first up the hill, but far from last. I generally cruise at around 62 mph.
I will say I know my weight per time and tongue weight. Generally only carry 1/4 FW & 2 bikes in the tail and generally only have one full propane tank, since it seems to last forever.
IMO you should be fine. Get a hitch setup that is both WD and sway and get to a scale with the TT and TV loaded like your leaving on a trip inc a full tank of gas. Understand how your loading placement affects tongue weight and for sure know your per tire weight so you're balanced DS/CS too. Look around for a county Ag Scale so you can take your time and experiment with loading placement. Hard to do that at the commercial CAT scales.