My wife is on her second 4Runner, my mother got her first one last fall after being a big Subaru fan for decades.
4Runners are great vehicles, and Toyota has a well deserved reputation for good reliability.
I have only towed a U-Haul across town with the wife’s first one. It did fine, but I can’t vouch for long distance with a camper. I suspect it would be great, with a brake controller added.
If Toyota made a 3/4 ton truck I would take a long, hard look at it.
2017 FC 27FB
2017 F250 Lariat Crew Cab 6.2L